diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0077.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0077.json new file mode 100644 index 0000000000000000000000000000000000000000..7612c76247676206bbaf06ad85dbce0c3e00737e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0077.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 7392, + "completed_passes": 77, + "snapshot": "pass_end_0077", + "candidate": true, + "snapshot_arrays_sha256": "29c2dbe4320ca7a086529c709eee0ee62e8a2b18680e92b8e6e32232093171ef", + "score": 9.107832556291365e-06, + "score_result": { + "score": 9.107832556291365e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.064752263526316e-06, + 3.4406593840685673e-06, + 4.076141522091348e-06, + 5.335803507477976e-06, + 6.34428261037101e-06, + 6.791090527258348e-06, + 6.57954979033093e-06, + 6.161778856039746e-06, + 5.928440259594936e-06, + 6.003183443681337e-06, + 6.329712050501257e-06, + 6.607476734643569e-06, + 6.886411028972361e-06, + 7.175986866059247e-06, + 7.451685632986482e-06, + 7.757538696750998e-06, + 7.74737236497458e-06, + 7.481657576136058e-06, + 7.306181032618042e-06, + 7.292479040188482e-06, + 7.33253727958072e-06, + 7.2066432039719075e-06, + 6.9221096055116504e-06, + 6.814164407842327e-06, + 7.148270015022717e-06, + 7.606442522956058e-06, + 7.806823305145372e-06, + 7.826458386261947e-06, + 7.660401934117544e-06, + 7.431955964420922e-06, + 7.278564225998707e-06, + 7.260629899974447e-06, + 7.3775181590463035e-06, + 7.640389412699733e-06, + 7.859548531996552e-06, + 8.179604265023954e-06, + 8.437749784206972e-06, + 8.465059181617107e-06, + 8.477253686578479e-06, + 8.686934961588122e-06, + 9.094970664591528e-06, + 9.398882866662461e-06, + 9.545739885652438e-06, + 9.701920134830289e-06, + 9.698026588011999e-06, + 9.65440813160967e-06, + 9.571071132086217e-06, + 9.810337360249832e-06, + 1.0302732334821485e-05, + 1.0715809366956819e-05, + 1.0536667105043307e-05, + 1.0172530892305076e-05, + 9.913892426993698e-06, + 9.702978786663152e-06, + 9.722407412482426e-06, + 9.784192116057966e-06, + 9.768550626176875e-06, + 9.781035259948112e-06, + 9.798630344448611e-06, + 9.861953913059551e-06, + 9.90279750112677e-06, + 9.86782197287539e-06, + 9.929864972946234e-06, + 9.994616448238958e-06, + 1.0148301043955144e-05, + 1.009402512863744e-05, + 1.0023393770097755e-05, + 9.939119991031475e-06, + 9.826940186030697e-06, + 9.705059710540809e-06, + 9.585993211658206e-06, + 9.576572665537242e-06, + 9.633879017201252e-06, + 9.759713066159748e-06, + 9.946426871465519e-06, + 1.016001078824047e-05, + 1.0320477485947777e-05, + 1.0492143701412715e-05, + 1.0811880201799795e-05, + 1.11194713099394e-05, + 1.1386187907191925e-05, + 1.1587717381189577e-05, + 1.1925465514650568e-05, + 1.2260775292816106e-05, + 1.2463922757888213e-05, + 1.2559921742649749e-05, + 1.264794627786614e-05, + 1.2679461178777274e-05, + 1.2695316399913281e-05, + 1.2691982192336582e-05, + 1.265204991796054e-05, + 1.260215685761068e-05, + 1.2559339666040614e-05, + 1.251089088327717e-05, + 1.2401615094859153e-05, + 1.2170688023616094e-05 + ] + ], + "episode_mean_losses": [ + 9.107832556291365e-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": 3.064752263526316e-06, + "observation_loss": 3.064752263526316e-06, + "chamfer": 2.5976321467169328e-06, + "track": 4.6712003154425474e-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": 4.955368785886094e-05, + "observation_loss": 3.4406593840685673e-06, + "chamfer": 2.908406258939067e-06, + "track": 5.322531819729193e-07, + "acceleration": 4.6113029384287074e-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": 2.987520201713778e-05, + "observation_loss": 4.076141522091348e-06, + "chamfer": 3.424901706239325e-06, + "track": 6.512399863822793e-07, + "acceleration": 2.579905958555173e-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": 1.4988322618592065e-05, + "observation_loss": 5.335803507477976e-06, + "chamfer": 4.381106009532232e-06, + "track": 9.54697270572069e-07, + "acceleration": 9.652519111114088e-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": 1.1199092114111409e-05, + "observation_loss": 6.34428261037101e-06, + "chamfer": 5.065370260126656e-06, + "track": 1.2789124639311922e-06, + "acceleration": 4.854809958487749e-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": 8.198196155717596e-06, + "observation_loss": 6.791090527258348e-06, + "chamfer": 5.3437574933923315e-06, + "track": 1.4473332612396916e-06, + "acceleration": 1.407105514772411e-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": 8.364847417396959e-06, + "observation_loss": 6.57954979033093e-06, + "chamfer": 5.1874903874704614e-06, + "track": 1.3920594028604683e-06, + "acceleration": 1.785297740752867e-06, + "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": 7.127111530280672e-06, + "observation_loss": 6.161778856039746e-06, + "chamfer": 4.9016343837138265e-06, + "track": 1.2601443586390815e-06, + "acceleration": 9.653329016146017e-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": 6.431793735828251e-06, + "observation_loss": 5.928440259594936e-06, + "chamfer": 4.740380063594785e-06, + "track": 1.1880604233738268e-06, + "acceleration": 5.033533057030581e-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": 6.258137091208482e-06, + "observation_loss": 6.003183443681337e-06, + "chamfer": 4.807990535482531e-06, + "track": 1.19519268082513e-06, + "acceleration": 2.549538180574018e-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": 6.436247531382833e-06, + "observation_loss": 6.329712050501257e-06, + "chamfer": 5.071786290500313e-06, + "track": 1.2579255326272687e-06, + "acceleration": 1.0653533877302834e-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": 6.706665772071574e-06, + "observation_loss": 6.607476734643569e-06, + "chamfer": 5.299742497300031e-06, + "track": 1.3077342373435386e-06, + "acceleration": 9.918915111484239e-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": 6.910826868988806e-06, + "observation_loss": 6.886411028972361e-06, + "chamfer": 5.546686224988662e-06, + "track": 1.3397249176705373e-06, + "acceleration": 2.4415873767225094e-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": 7.256113804032793e-06, + "observation_loss": 7.175986866059247e-06, + "chamfer": 5.796009645564482e-06, + "track": 1.3799774478684412e-06, + "acceleration": 8.012705166038359e-08, + "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": 7.479415216948837e-06, + "observation_loss": 7.451685632986482e-06, + "chamfer": 6.026580649631796e-06, + "track": 1.4251050970415235e-06, + "acceleration": 2.7729653240271546e-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": 7.838288183847908e-06, + "observation_loss": 7.757538696750998e-06, + "chamfer": 6.270804988162126e-06, + "track": 1.4867340496493853e-06, + "acceleration": 8.074946578062736e-08, + "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": 7.918332812550943e-06, + "observation_loss": 7.74737236497458e-06, + "chamfer": 6.263397153816186e-06, + "track": 1.4839754385320703e-06, + "acceleration": 1.7096039073294378e-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": 7.694968189753126e-06, + "observation_loss": 7.481657576136058e-06, + "chamfer": 6.066760761314072e-06, + "track": 1.4148969285088242e-06, + "acceleration": 2.133101872914267e-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": 7.379267572105164e-06, + "observation_loss": 7.306181032618042e-06, + "chamfer": 5.945044449617853e-06, + "track": 1.3611363556265133e-06, + "acceleration": 7.308667449024142e-08, + "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": 7.3888973020075355e-06, + "observation_loss": 7.292479040188482e-06, + "chamfer": 5.937643891229527e-06, + "track": 1.354835148958955e-06, + "acceleration": 9.641827602990816e-08, + "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": 7.4793092608160805e-06, + "observation_loss": 7.33253727958072e-06, + "chamfer": 5.964677256997675e-06, + "track": 1.367860022583045e-06, + "acceleration": 1.4677212334390788e-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": 7.320980785152642e-06, + "observation_loss": 7.2066432039719075e-06, + "chamfer": 5.8773821365321055e-06, + "track": 1.329261067439802e-06, + "acceleration": 1.1433771618385435e-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": 7.0817532105138525e-06, + "observation_loss": 6.9221096055116504e-06, + "chamfer": 5.674318344972562e-06, + "track": 1.2477911468522507e-06, + "acceleration": 1.596434202610908e-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": 6.953741831239313e-06, + "observation_loss": 6.814164407842327e-06, + "chamfer": 5.585843609878793e-06, + "track": 1.2283205705898581e-06, + "acceleration": 1.3957738076442183e-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": 7.296661806321936e-06, + "observation_loss": 7.148270015022717e-06, + "chamfer": 5.817271812702529e-06, + "track": 1.3309980886333506e-06, + "acceleration": 1.4839166340152588e-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": 7.894973350630607e-06, + "observation_loss": 7.606442522956058e-06, + "chamfer": 6.129960638645571e-06, + "track": 1.47648177062365e-06, + "acceleration": 2.885311118916434e-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": 8.088083632173948e-06, + "observation_loss": 7.806823305145372e-06, + "chamfer": 6.266644504648866e-06, + "track": 1.5401784594359924e-06, + "acceleration": 2.8126055440225173e-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": 8.00634461484151e-06, + "observation_loss": 7.826458386261947e-06, + "chamfer": 6.295199909800431e-06, + "track": 1.5312581354010035e-06, + "acceleration": 1.7988622857956216e-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": 8.063574568950571e-06, + "observation_loss": 7.660401934117544e-06, + "chamfer": 6.186665359564358e-06, + "track": 1.473736233492673e-06, + "acceleration": 4.0317308958037756e-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": 7.639531759195961e-06, + "observation_loss": 7.431955964420922e-06, + "chamfer": 6.0239167396503035e-06, + "track": 1.4080391110837809e-06, + "acceleration": 2.0757615004640684e-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": 7.342511253227713e-06, + "observation_loss": 7.278564225998707e-06, + "chamfer": 5.917688667977927e-06, + "track": 1.3608756717076176e-06, + "acceleration": 6.39472403918262e-08, + "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": 7.3013488872675225e-06, + "observation_loss": 7.260629899974447e-06, + "chamfer": 5.911105745326495e-06, + "track": 1.3495242683347897e-06, + "acceleration": 4.0719058347349346e-08, + "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": 7.435814040945843e-06, + "observation_loss": 7.3775181590463035e-06, + "chamfer": 6.008774562360486e-06, + "track": 1.3687434829989797e-06, + "acceleration": 5.82957611072743e-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": 7.712402293691412e-06, + "observation_loss": 7.640389412699733e-06, + "chamfer": 6.202364147611661e-06, + "track": 1.4380251514012343e-06, + "acceleration": 7.20128454645419e-08, + "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": 7.955559340189211e-06, + "observation_loss": 7.859548531996552e-06, + "chamfer": 6.365050012391293e-06, + "track": 1.4944981785447453e-06, + "acceleration": 9.601075134924031e-08, + "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": 8.352417353307828e-06, + "observation_loss": 8.179604265023954e-06, + "chamfer": 6.592462796106702e-06, + "track": 1.587141241543577e-06, + "acceleration": 1.7281334407925897e-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": 8.49974912853213e-06, + "observation_loss": 8.437749784206972e-06, + "chamfer": 6.767746072000591e-06, + "track": 1.6700033711458673e-06, + "acceleration": 6.199927327088517e-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": 8.816046829451807e-06, + "observation_loss": 8.465059181617107e-06, + "chamfer": 6.783599928894546e-06, + "track": 1.6814594800962368e-06, + "acceleration": 3.509878183649562e-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": 8.546569006284699e-06, + "observation_loss": 8.477253686578479e-06, + "chamfer": 6.807551926613087e-06, + "track": 1.6697016462785541e-06, + "acceleration": 6.93155683961777e-08, + "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": 8.843512659950648e-06, + "observation_loss": 8.686934961588122e-06, + "chamfer": 6.9607845034624916e-06, + "track": 1.7261506854993058e-06, + "acceleration": 1.5657752783226897e-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": 9.315284842159599e-06, + "observation_loss": 9.094970664591528e-06, + "chamfer": 7.24271785657038e-06, + "track": 1.8522524669606355e-06, + "acceleration": 2.2031412072465173e-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": 9.535145181871485e-06, + "observation_loss": 9.398882866662461e-06, + "chamfer": 7.449938948411727e-06, + "track": 1.9489436908770585e-06, + "acceleration": 1.3626194572680106e-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": 9.656602742325049e-06, + "observation_loss": 9.545739885652438e-06, + "chamfer": 7.53391668695258e-06, + "track": 2.0118234260735335e-06, + "acceleration": 1.1086271456406394e-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": 9.787668204808142e-06, + "observation_loss": 9.701920134830289e-06, + "chamfer": 7.630143954884261e-06, + "track": 2.0717759525723523e-06, + "acceleration": 8.574824761353739e-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": 9.7951360658044e-06, + "observation_loss": 9.698026588011999e-06, + "chamfer": 7.62297167966608e-06, + "track": 2.0750546809722437e-06, + "acceleration": 9.710989701261497e-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": 9.735704225022346e-06, + "observation_loss": 9.65440813160967e-06, + "chamfer": 7.591760095237987e-06, + "track": 2.0626478089980083e-06, + "acceleration": 8.129568129788822e-08, + "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": 9.755847713677213e-06, + "observation_loss": 9.571071132086217e-06, + "chamfer": 7.532547442679061e-06, + "track": 2.0385236894071568e-06, + "acceleration": 1.8477663843441405e-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": 9.93134563032072e-06, + "observation_loss": 9.810337360249832e-06, + "chamfer": 7.688934601901565e-06, + "track": 2.121402985721943e-06, + "acceleration": 1.2100797164293908e-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": 1.0372934411861934e-05, + "observation_loss": 1.0302732334821485e-05, + "chamfer": 7.99379176896764e-06, + "track": 2.30894033848017e-06, + "acceleration": 7.020183545591863e-08, + "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": 1.0959651262965053e-05, + "observation_loss": 1.0715809366956819e-05, + "chamfer": 8.26517953100847e-06, + "track": 2.450629835948348e-06, + "acceleration": 2.438420949602005e-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": 1.0637821105774492e-05, + "observation_loss": 1.0536667105043307e-05, + "chamfer": 8.156863259500824e-06, + "track": 2.3798036181688076e-06, + "acceleration": 1.0115381599007378e-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": 1.031357442116132e-05, + "observation_loss": 1.0172530892305076e-05, + "chamfer": 7.928080776764546e-06, + "track": 2.2444501155405305e-06, + "acceleration": 1.410431167414572e-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": 9.959311682905536e-06, + "observation_loss": 9.913892426993698e-06, + "chamfer": 7.75222997617675e-06, + "track": 2.161661996069597e-06, + "acceleration": 4.541958986692407e-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": 9.769169992068782e-06, + "observation_loss": 9.702978786663152e-06, + "chamfer": 7.597174317197641e-06, + "track": 2.10580401471816e-06, + "acceleration": 6.619102776994623e-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": 9.788337592908647e-06, + "observation_loss": 9.722407412482426e-06, + "chamfer": 7.595643182867207e-06, + "track": 2.126763774867868e-06, + "acceleration": 6.592998147425533e-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": 9.871968359220773e-06, + "observation_loss": 9.784192116057966e-06, + "chamfer": 7.628896582900779e-06, + "track": 2.155295760530862e-06, + "acceleration": 8.777607973797785e-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": 9.839268386713229e-06, + "observation_loss": 9.768550626176875e-06, + "chamfer": 7.612020453962032e-06, + "track": 2.156529944841168e-06, + "acceleration": 7.071763974408896e-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": 9.898234566207975e-06, + "observation_loss": 9.781035259948112e-06, + "chamfer": 7.59392651161761e-06, + "track": 2.1871089757041773e-06, + "acceleration": 1.1719902204276877e-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": 1.0012755410571117e-05, + "observation_loss": 9.798630344448611e-06, + "chamfer": 7.596723662572913e-06, + "track": 2.2019066818756983e-06, + "acceleration": 2.1412500927908695e-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": 1.030748990160646e-05, + "observation_loss": 9.861953913059551e-06, + "chamfer": 7.61008550398401e-06, + "track": 2.2518684090755414e-06, + "acceleration": 4.4553576117323246e-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": 1.0498695701244287e-05, + "observation_loss": 9.90279750112677e-06, + "chamfer": 7.628301318618469e-06, + "track": 2.2744964098819764e-06, + "acceleration": 5.95898313804355e-07, + "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": 1.0124709660885856e-05, + "observation_loss": 9.86782197287539e-06, + "chamfer": 7.597363037348259e-06, + "track": 2.270458935527131e-06, + "acceleration": 2.5688788696243137e-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": 1.0015883162850514e-05, + "observation_loss": 9.929864972946234e-06, + "chamfer": 7.646294761798345e-06, + "track": 2.2835702111478895e-06, + "acceleration": 8.601830359111773e-08, + "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": 1.0061990906251594e-05, + "observation_loss": 9.994616448238958e-06, + "chamfer": 7.690265192650259e-06, + "track": 2.304351255588699e-06, + "acceleration": 6.737450775062825e-08, + "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": 1.0225981895928271e-05, + "observation_loss": 1.0148301043955144e-05, + "chamfer": 7.786801688780542e-06, + "track": 2.361499355174601e-06, + "acceleration": 7.768127119334167e-08, + "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": 1.0173976079386193e-05, + "observation_loss": 1.009402512863744e-05, + "chamfer": 7.748220923531335e-06, + "track": 2.3458037503587548e-06, + "acceleration": 7.995120654413768e-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": 1.01805453596171e-05, + "observation_loss": 1.0023393770097755e-05, + "chamfer": 7.683474905206822e-06, + "track": 2.339918864890933e-06, + "acceleration": 1.5715184531472914e-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": 1.0028261385741644e-05, + "observation_loss": 9.939119991031475e-06, + "chamfer": 7.590182576677762e-06, + "track": 2.3489369596063625e-06, + "acceleration": 8.914148708072389e-08, + "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": 9.901102203002665e-06, + "observation_loss": 9.826940186030697e-06, + "chamfer": 7.487052243959624e-06, + "track": 2.3398877146973973e-06, + "acceleration": 7.416225145107092e-08, + "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": 9.909126674756408e-06, + "observation_loss": 9.705059710540809e-06, + "chamfer": 7.408307283185422e-06, + "track": 2.2967524273553863e-06, + "acceleration": 2.0406690737218014e-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": 1.0083650522574317e-05, + "observation_loss": 9.585993211658206e-06, + "chamfer": 7.355540219577961e-06, + "track": 2.2304527647065697e-06, + "acceleration": 4.976575951332052e-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": 9.830971066548955e-06, + "observation_loss": 9.576572665537242e-06, + "chamfer": 7.35364710635622e-06, + "track": 2.222925331807346e-06, + "acceleration": 2.54398742072226e-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": 9.9924836831633e-06, + "observation_loss": 9.633879017201252e-06, + "chamfer": 7.409842510242015e-06, + "track": 2.2240360522118863e-06, + "acceleration": 3.586045238535007e-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": 1.0524303434067406e-05, + "observation_loss": 9.759713066159748e-06, + "chamfer": 7.497899332520319e-06, + "track": 2.2618141883867793e-06, + "acceleration": 7.645903679076582e-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": 1.0161153113585897e-05, + "observation_loss": 9.946426871465519e-06, + "chamfer": 7.615443337272154e-06, + "track": 2.330983988940716e-06, + "acceleration": 2.1472637001807016e-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": 1.0189947715844028e-05, + "observation_loss": 1.016001078824047e-05, + "chamfer": 7.744435606582556e-06, + "track": 2.415575636405265e-06, + "acceleration": 2.993707326481854e-08, + "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": 1.0352304343541618e-05, + "observation_loss": 1.0320477485947777e-05, + "chamfer": 7.809991075191647e-06, + "track": 2.5104861833824543e-06, + "acceleration": 3.182720931249605e-08, + "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": 1.0592833859845996e-05, + "observation_loss": 1.0492143701412715e-05, + "chamfer": 7.880143130023498e-06, + "track": 2.612000571389217e-06, + "acceleration": 1.00689803161913e-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": 1.095716652343981e-05, + "observation_loss": 1.0811880201799795e-05, + "chamfer": 8.04237697593635e-06, + "track": 2.76950299848977e-06, + "acceleration": 1.4528642111599765e-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": 1.1254871424171142e-05, + "observation_loss": 1.11194713099394e-05, + "chamfer": 8.204130608646665e-06, + "track": 2.9153407012927346e-06, + "acceleration": 1.3540021370772592e-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": 1.1453646948211826e-05, + "observation_loss": 1.1386187907191925e-05, + "chamfer": 8.345496098627336e-06, + "track": 3.0406918085645884e-06, + "acceleration": 6.74589628602007e-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": 1.1704538337653503e-05, + "observation_loss": 1.1587717381189577e-05, + "chamfer": 8.443726073892321e-06, + "track": 3.1439917620446067e-06, + "acceleration": 1.168211483104642e-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": 1.2002039511571638e-05, + "observation_loss": 1.1925465514650568e-05, + "chamfer": 8.643542969366536e-06, + "track": 3.281922545284033e-06, + "acceleration": 7.657408218619821e-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": 1.2417625839589164e-05, + "observation_loss": 1.2260775292816106e-05, + "chamfer": 8.821773917588871e-06, + "track": 3.4390013752272353e-06, + "acceleration": 1.5685036203194613e-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": 1.2518886251200456e-05, + "observation_loss": 1.2463922757888213e-05, + "chamfer": 8.919608262658585e-06, + "track": 3.544314495229628e-06, + "acceleration": 5.4963070539315595e-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": 1.2633515325433109e-05, + "observation_loss": 1.2559921742649749e-05, + "chamfer": 8.960400009527802e-06, + "track": 3.5995212783745956e-06, + "acceleration": 7.359384568417227e-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": 1.2710639566648751e-05, + "observation_loss": 1.264794627786614e-05, + "chamfer": 9.009774657897651e-06, + "track": 3.6381718473421643e-06, + "acceleration": 6.269373642453502e-08, + "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": 1.2726492968795355e-05, + "observation_loss": 1.2679461178777274e-05, + "chamfer": 9.00716804608237e-06, + "track": 3.672293360068579e-06, + "acceleration": 4.7032148842163224e-08, + "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": 1.2744197192660067e-05, + "observation_loss": 1.2695316399913281e-05, + "chamfer": 8.991720278572757e-06, + "track": 3.7035965760878753e-06, + "acceleration": 4.888123683599588e-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": 1.2813297871616669e-05, + "observation_loss": 1.2691982192336582e-05, + "chamfer": 8.99566657608375e-06, + "track": 3.6963158436265076e-06, + "acceleration": 1.213152671653006e-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": 1.2747362234222237e-05, + "observation_loss": 1.265204991796054e-05, + "chamfer": 8.977329343906604e-06, + "track": 3.6747210288012866e-06, + "acceleration": 9.531188283062875e-08, + "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": 1.2621981113625225e-05, + "observation_loss": 1.260215685761068e-05, + "chamfer": 8.942081876739394e-06, + "track": 3.660075435618637e-06, + "acceleration": 1.9824295094394984e-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": 1.2617335414688569e-05, + "observation_loss": 1.2559339666040614e-05, + "chamfer": 8.905306458473206e-06, + "track": 3.6540336623147596e-06, + "acceleration": 5.799606839218541e-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": 1.2603255527210422e-05, + "observation_loss": 1.251089088327717e-05, + "chamfer": 8.8674451035331e-06, + "track": 3.643445324996719e-06, + "acceleration": 9.23642247130374e-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": 1.2483694263210054e-05, + "observation_loss": 1.2401615094859153e-05, + "chamfer": 8.811273801256903e-06, + "track": 3.5903412936022505e-06, + "acceleration": 8.207872070897793e-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": 1.2212585716042668e-05, + "observation_loss": 1.2170688023616094e-05, + "chamfer": 8.68783718033228e-06, + "track": 3.4828508432838134e-06, + "acceleration": 4.189741886762022e-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": 1.0187659960081419e-05, + "chamfer_mean": 7.01932860162439e-06, + "track_mean": 2.088503926541326e-06, + "acceleration_mean": 1.0798274268086772e-06, + "observation_score": 9.107832556291365e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4348318669999571 + }, + "score_arrays_file": "pass_scores/pass_end_0077.npz", + "score_arrays_sha256": "a10a32b85f6a4cca53bdd226bc969714a41c51d6c3c8437918fffcee5bd8bfae" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0078.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0078.json new file mode 100644 index 0000000000000000000000000000000000000000..15e280331156ed61e9e5ac0ea11505a519120c66 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0078.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 7488, + "completed_passes": 78, + "snapshot": "pass_end_0078", + "candidate": true, + "snapshot_arrays_sha256": "600a7fdcc2990d482f416b7663f78b534b231d511ade71ade331d600c14f42d6", + "score": 9.096136757591466e-06, + "score_result": { + "score": 9.096136757591466e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.061117922698031e-06, + 3.4396121009194758e-06, + 4.070774139108835e-06, + 5.324428457242902e-06, + 6.330508313112659e-06, + 6.780876447010087e-06, + 6.575303359568352e-06, + 6.159623353596544e-06, + 5.925413006480085e-06, + 5.998574124532752e-06, + 6.324910827970598e-06, + 6.602069333894178e-06, + 6.879280135763111e-06, + 7.166493105614791e-06, + 7.435341103700921e-06, + 7.73461397329811e-06, + 7.718132110312581e-06, + 7.448932592524216e-06, + 7.274127710843459e-06, + 7.260854090418434e-06, + 7.30139890947612e-06, + 7.178221039794153e-06, + 6.895035767229274e-06, + 6.786916401324561e-06, + 7.117268978618085e-06, + 7.574213213956682e-06, + 7.776620805088896e-06, + 7.798752449161839e-06, + 7.633027962583583e-06, + 7.408374131046003e-06, + 7.258899586304324e-06, + 7.240722879942041e-06, + 7.358446055150125e-06, + 7.621693384862738e-06, + 7.842549166525714e-06, + 8.1647513070493e-06, + 8.425372470810544e-06, + 8.453603186353575e-06, + 8.463366611977108e-06, + 8.673783668200485e-06, + 9.083070835913531e-06, + 9.387147656525485e-06, + 9.53198741626693e-06, + 9.687699275673367e-06, + 9.685593795438763e-06, + 9.6413932624273e-06, + 9.558549209032208e-06, + 9.799434337764978e-06, + 1.0291688340657856e-05, + 1.0703512089094147e-05, + 1.0525363904889673e-05, + 1.0160649253521115e-05, + 9.90058651950676e-06, + 9.689868420537096e-06, + 9.709445293992758e-06, + 9.77173840510659e-06, + 9.756065082910936e-06, + 9.767833944351878e-06, + 9.785423571884166e-06, + 9.848947229329497e-06, + 9.890974070003722e-06, + 9.857379154709633e-06, + 9.921360287989955e-06, + 9.988424608309288e-06, + 1.014351801131852e-05, + 1.0090888281411026e-05, + 1.002171393338358e-05, + 9.938716175383888e-06, + 9.827588655753061e-06, + 9.70583460002672e-06, + 9.58495911618229e-06, + 9.57489919528598e-06, + 9.630840395402629e-06, + 9.755465725902468e-06, + 9.938295988831669e-06, + 1.0150545676879119e-05, + 1.0310864126950037e-05, + 1.0482905054232106e-05, + 1.0803311852214392e-05, + 1.1114219887531362e-05, + 1.1384921890567057e-05, + 1.158407667389838e-05, + 1.1919934877369087e-05, + 1.2255752153578214e-05, + 1.2459715435397811e-05, + 1.255610550288111e-05, + 1.2642868568946142e-05, + 1.2674428944592364e-05, + 1.2691203664871864e-05, + 1.268745654670056e-05, + 1.2647373296204023e-05, + 1.259721193491714e-05, + 1.2555181456264108e-05, + 1.2506578059401363e-05, + 1.2397410500852857e-05, + 1.216620239574695e-05 + ] + ], + "episode_mean_losses": [ + 9.096136757591466e-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": 3.061117922698031e-06, + "observation_loss": 3.061117922698031e-06, + "chamfer": 2.5946028472390026e-06, + "track": 4.665151607241569e-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": 4.946023182128556e-05, + "observation_loss": 3.4396121009194758e-06, + "chamfer": 2.9075504244246986e-06, + "track": 5.320617901816149e-07, + "acceleration": 4.602062108460814e-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": 2.9831437132088467e-05, + "observation_loss": 4.070774139108835e-06, + "chamfer": 3.420676193854888e-06, + "track": 6.50097888410528e-07, + "acceleration": 2.5760662538232282e-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": 1.4972329154261388e-05, + "observation_loss": 5.324428457242902e-06, + "chamfer": 4.372862349555362e-06, + "track": 9.515658803138649e-07, + "acceleration": 9.647900697018486e-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": 1.1163767339894548e-05, + "observation_loss": 6.330508313112659e-06, + "chamfer": 5.056354439147981e-06, + "track": 1.2741538739646785e-06, + "acceleration": 4.8332594815292396e-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": 8.181940756912809e-06, + "observation_loss": 6.780876447010087e-06, + "chamfer": 5.337414222594816e-06, + "track": 1.4434623381021083e-06, + "acceleration": 1.4010645372763975e-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": 8.361968866665848e-06, + "observation_loss": 6.575303359568352e-06, + "chamfer": 5.184673682379071e-06, + "track": 1.3906295635024435e-06, + "acceleration": 1.7866652797238203e-06, + "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": 7.127681328711333e-06, + "observation_loss": 6.159623353596544e-06, + "chamfer": 4.900026397081092e-06, + "track": 1.2595970702022896e-06, + "acceleration": 9.680579751147889e-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": 6.433109774661716e-06, + "observation_loss": 5.925413006480085e-06, + "chamfer": 4.73824366054032e-06, + "track": 1.187169232252927e-06, + "acceleration": 5.076969955553068e-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": 6.254247182368999e-06, + "observation_loss": 5.998574124532752e-06, + "chamfer": 4.80478365716408e-06, + "track": 1.1937906947423471e-06, + "acceleration": 2.556732567882136e-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": 6.432493592001265e-06, + "observation_loss": 6.324910827970598e-06, + "chamfer": 5.068503014626913e-06, + "track": 1.2564078133436851e-06, + "acceleration": 1.075826503438293e-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": 6.699086497974349e-06, + "observation_loss": 6.602069333894178e-06, + "chamfer": 5.295815299177775e-06, + "track": 1.3062539210295654e-06, + "acceleration": 9.70171996073077e-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": 6.90305705575156e-06, + "observation_loss": 6.879280135763111e-06, + "chamfer": 5.54132475372171e-06, + "track": 1.337955495728238e-06, + "acceleration": 2.3776829394250854e-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": 7.247249868669314e-06, + "observation_loss": 7.166493105614791e-06, + "chamfer": 5.788795078842668e-06, + "track": 1.3776981404589606e-06, + "acceleration": 8.075690516307077e-08, + "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": 7.462373559974367e-06, + "observation_loss": 7.435341103700921e-06, + "chamfer": 6.014518476149533e-06, + "track": 1.4208227412382257e-06, + "acceleration": 2.7032568183926742e-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": 7.811996511009056e-06, + "observation_loss": 7.73461397329811e-06, + "chamfer": 6.254317668208387e-06, + "track": 1.4802967598370742e-06, + "acceleration": 7.73825306055187e-08, + "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": 7.884796104917768e-06, + "observation_loss": 7.718132110312581e-06, + "chamfer": 6.242491508601233e-06, + "track": 1.4756403743376723e-06, + "acceleration": 1.6666420776800805e-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": 7.660783012397587e-06, + "observation_loss": 7.448932592524216e-06, + "chamfer": 6.043343546480173e-06, + "track": 1.4055892734177178e-06, + "acceleration": 2.1185051934935473e-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": 7.349067800532794e-06, + "observation_loss": 7.274127710843459e-06, + "chamfer": 5.922338914388092e-06, + "track": 1.3517886827685288e-06, + "acceleration": 7.494028864130087e-08, + "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": 7.358413313340861e-06, + "observation_loss": 7.260854090418434e-06, + "chamfer": 5.915175734116929e-06, + "track": 1.3456782426146674e-06, + "acceleration": 9.75590026541795e-08, + "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": 7.450013072229922e-06, + "observation_loss": 7.30139890947612e-06, + "chamfer": 5.942486495769117e-06, + "track": 1.3589126410806784e-06, + "acceleration": 1.4861423380807537e-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": 7.293759608728578e-06, + "observation_loss": 7.178221039794153e-06, + "chamfer": 5.857230462424923e-06, + "track": 1.3209906910560676e-06, + "acceleration": 1.1553849077472478e-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": 7.0547416726185475e-06, + "observation_loss": 6.895035767229274e-06, + "chamfer": 5.6547823987784795e-06, + "track": 1.240253482137632e-06, + "acceleration": 1.5970582012414525e-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": 6.925985417183256e-06, + "observation_loss": 6.786916401324561e-06, + "chamfer": 5.566056188399671e-06, + "track": 1.2208600992380525e-06, + "acceleration": 1.3906895901527605e-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": 7.265486601681914e-06, + "observation_loss": 7.117268978618085e-06, + "chamfer": 5.794955541205127e-06, + "track": 1.3223132100392831e-06, + "acceleration": 1.4821759464211937e-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": 7.86185046308674e-06, + "observation_loss": 7.574213213956682e-06, + "chamfer": 6.107368790253531e-06, + "track": 1.466844310016313e-06, + "acceleration": 2.8763724913005717e-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": 8.057837476371787e-06, + "observation_loss": 7.776620805088896e-06, + "chamfer": 6.245628810574999e-06, + "track": 1.5309923355744104e-06, + "acceleration": 2.812168702348572e-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": 7.979260772117414e-06, + "observation_loss": 7.798752449161839e-06, + "chamfer": 6.2756830629950855e-06, + "track": 1.5230693861667532e-06, + "acceleration": 1.805081950578824e-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": 8.03645707492251e-06, + "observation_loss": 7.633027962583583e-06, + "chamfer": 6.166701950860443e-06, + "track": 1.4663263527836534e-06, + "acceleration": 4.034291407606361e-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": 7.617506980750477e-06, + "observation_loss": 7.408374131046003e-06, + "chamfer": 6.006876901665237e-06, + "track": 1.4014973430676037e-06, + "acceleration": 2.091330202347308e-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": 7.323243153223302e-06, + "observation_loss": 7.258899586304324e-06, + "chamfer": 5.903294095332967e-06, + "track": 1.3556056046581944e-06, + "acceleration": 6.434347454842282e-08, + "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": 7.280731097125681e-06, + "observation_loss": 7.240722879942041e-06, + "chamfer": 5.896430138818687e-06, + "track": 1.344292741123354e-06, + "acceleration": 4.000830244876852e-08, + "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": 7.41604208087665e-06, + "observation_loss": 7.358446055150125e-06, + "chamfer": 5.9946701185253914e-06, + "track": 1.3637760503115715e-06, + "acceleration": 5.7596082569943974e-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": 7.694998203078285e-06, + "observation_loss": 7.621693384862738e-06, + "chamfer": 6.1887130868854e-06, + "track": 1.4329804116641753e-06, + "acceleration": 7.330461926358112e-08, + "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": 7.939649549371097e-06, + "observation_loss": 7.842549166525714e-06, + "chamfer": 6.352517630148213e-06, + "track": 1.4900315363775007e-06, + "acceleration": 9.710046811051143e-08, + "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": 8.338358384207822e-06, + "observation_loss": 8.1647513070493e-06, + "chamfer": 6.581758498214185e-06, + "track": 1.5829930362087907e-06, + "acceleration": 1.7360709136937658e-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": 8.487790182698518e-06, + "observation_loss": 8.425372470810544e-06, + "chamfer": 6.759085408702958e-06, + "track": 1.6662872894812608e-06, + "acceleration": 6.241797478878652e-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": 8.804026947473176e-06, + "observation_loss": 8.453603186353575e-06, + "chamfer": 6.7756391217699274e-06, + "track": 1.6779638372099726e-06, + "acceleration": 3.5042421586695127e-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": 8.532720130460802e-06, + "observation_loss": 8.463366611977108e-06, + "chamfer": 6.798102731409017e-06, + "track": 1.6652635395075777e-06, + "acceleration": 6.935363217053236e-08, + "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": 8.830660590319894e-06, + "observation_loss": 8.673783668200485e-06, + "chamfer": 6.951926025067223e-06, + "track": 1.7218576431332622e-06, + "acceleration": 1.5687723475821258e-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": 9.302826583734713e-06, + "observation_loss": 9.083070835913531e-06, + "chamfer": 7.234816166601377e-06, + "track": 1.848255010372668e-06, + "acceleration": 2.197557336103273e-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": 9.521880201646127e-06, + "observation_loss": 9.387147656525485e-06, + "chamfer": 7.4419517659407575e-06, + "track": 1.9451963453320786e-06, + "acceleration": 1.3473253090978687e-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": 9.643278644944075e-06, + "observation_loss": 9.53198741626693e-06, + "chamfer": 7.524628927058075e-06, + "track": 2.00735871658253e-06, + "acceleration": 1.1129120736086406e-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": 9.77301078819437e-06, + "observation_loss": 9.687699275673367e-06, + "chamfer": 7.620500127814012e-06, + "track": 2.067199375233031e-06, + "acceleration": 8.531137751788265e-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": 9.782837878447026e-06, + "observation_loss": 9.685593795438763e-06, + "chamfer": 7.614778951392509e-06, + "track": 2.0708146166725783e-06, + "acceleration": 9.724423222223777e-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": 9.721868082124274e-06, + "observation_loss": 9.6413932624273e-06, + "chamfer": 7.5830071182281245e-06, + "track": 2.058386371572851e-06, + "acceleration": 8.047513233577774e-08, + "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": 9.74423710431438e-06, + "observation_loss": 9.558549209032208e-06, + "chamfer": 7.524075499532046e-06, + "track": 2.034474164247513e-06, + "acceleration": 1.856876536976415e-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": 9.920159754983615e-06, + "observation_loss": 9.799434337764978e-06, + "chamfer": 7.681692295591347e-06, + "track": 2.117741814799956e-06, + "acceleration": 1.207250193147047e-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": 1.0362702596466988e-05, + "observation_loss": 1.0291688340657856e-05, + "chamfer": 7.98642031440977e-06, + "track": 2.3052680262480862e-06, + "acceleration": 7.10143410742603e-08, + "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": 1.0946316251647659e-05, + "observation_loss": 1.0703512089094147e-05, + "chamfer": 8.257247827714309e-06, + "track": 2.4462644887535134e-06, + "acceleration": 2.4280370780616067e-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": 1.0626557013893034e-05, + "observation_loss": 1.0525363904889673e-05, + "chamfer": 8.14914619695628e-06, + "track": 2.376217935307068e-06, + "acceleration": 1.0119323690105375e-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": 1.0301567272108514e-05, + "observation_loss": 1.0160649253521115e-05, + "chamfer": 7.92008540884126e-06, + "track": 2.240563389932504e-06, + "acceleration": 1.4091762068346725e-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": 9.945983947545756e-06, + "observation_loss": 9.90058651950676e-06, + "chamfer": 7.743438800389413e-06, + "track": 2.1571479464910226e-06, + "acceleration": 4.539703013506369e-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": 9.754273378348444e-06, + "observation_loss": 9.689868420537096e-06, + "chamfer": 7.58861688154866e-06, + "track": 2.1012515389884356e-06, + "acceleration": 6.440479438651892e-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": 9.774208592716604e-06, + "observation_loss": 9.709445293992758e-06, + "chamfer": 7.587378149764845e-06, + "track": 2.1220666894805618e-06, + "acceleration": 6.476311398273538e-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": 9.859163583314512e-06, + "observation_loss": 9.77173840510659e-06, + "chamfer": 7.621103577548638e-06, + "track": 2.1506346001842758e-06, + "acceleration": 8.742529189476045e-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": 9.82611072686268e-06, + "observation_loss": 9.756065082910936e-06, + "chamfer": 7.60423245083075e-06, + "track": 2.1518328594538616e-06, + "acceleration": 7.004559421375234e-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": 9.885656254482456e-06, + "observation_loss": 9.767833944351878e-06, + "chamfer": 7.585751973238075e-06, + "track": 2.1820817437401274e-06, + "acceleration": 1.1782196907006437e-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": 9.999734174925834e-06, + "observation_loss": 9.785423571884166e-06, + "chamfer": 7.588583230244694e-06, + "track": 2.1968401142657967e-06, + "acceleration": 2.1431027619200904e-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": 1.02945832622936e-05, + "observation_loss": 9.848947229329497e-06, + "chamfer": 7.60231387175736e-06, + "track": 2.2466338123194873e-06, + "acceleration": 4.4563594769897463e-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": 1.0488115549378563e-05, + "observation_loss": 9.890974070003722e-06, + "chamfer": 7.6213896136323456e-06, + "track": 2.269584228997701e-06, + "acceleration": 5.971414793748409e-07, + "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": 1.0116666999238078e-05, + "observation_loss": 9.857379154709633e-06, + "chamfer": 7.591359917569207e-06, + "track": 2.266019464514102e-06, + "acceleration": 2.5928741820280266e-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": 1.0008121535065584e-05, + "observation_loss": 9.921360287989955e-06, + "chamfer": 7.641524462087546e-06, + "track": 2.2798360532760853e-06, + "acceleration": 8.676162366327844e-08, + "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": 1.0056285645987373e-05, + "observation_loss": 9.988424608309288e-06, + "chamfer": 7.686884600843769e-06, + "track": 2.3015402348391945e-06, + "acceleration": 6.786070372299946e-08, + "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": 1.0221337106486317e-05, + "observation_loss": 1.014351801131852e-05, + "chamfer": 7.784063200233504e-06, + "track": 2.3594548110850155e-06, + "acceleration": 7.781917332749799e-08, + "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": 1.0170427231059875e-05, + "observation_loss": 1.0090888281411026e-05, + "chamfer": 7.746488336124457e-06, + "track": 2.344399717912893e-06, + "acceleration": 7.953896385970438e-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": 1.0179572200286202e-05, + "observation_loss": 1.002171393338358e-05, + "chamfer": 7.682615432713646e-06, + "track": 2.339098500669934e-06, + "acceleration": 1.5785836637860484e-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": 1.0028529686678667e-05, + "observation_loss": 9.938716175383888e-06, + "chamfer": 7.590011591673829e-06, + "track": 2.348704811083735e-06, + "acceleration": 8.981347576764165e-08, + "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": 9.901851626636926e-06, + "observation_loss": 9.827588655753061e-06, + "chamfer": 7.487619768653531e-06, + "track": 2.3399693418468814e-06, + "acceleration": 7.4263290628096e-08, + "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": 9.910434528137557e-06, + "observation_loss": 9.70583460002672e-06, + "chamfer": 7.408956662402488e-06, + "track": 2.29687748287688e-06, + "acceleration": 2.0459958705032477e-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": 1.0084265340992715e-05, + "observation_loss": 9.58495911618229e-06, + "chamfer": 7.354869012488052e-06, + "track": 2.230089648946887e-06, + "acceleration": 4.99305883749912e-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": 9.83108111540787e-06, + "observation_loss": 9.57489919528598e-06, + "chamfer": 7.352583907049848e-06, + "track": 2.2223150608624564e-06, + "acceleration": 2.5618189170018013e-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": 1.0001338523579761e-05, + "observation_loss": 9.630840395402629e-06, + "chamfer": 7.407692464767024e-06, + "track": 2.223147930635605e-06, + "acceleration": 3.704981850205513e-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": 1.0565870070422534e-05, + "observation_loss": 9.755465725902468e-06, + "chamfer": 7.495119007216999e-06, + "track": 2.2603462639381178e-06, + "acceleration": 8.104045718937414e-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": 1.0164701961912215e-05, + "observation_loss": 9.938295988831669e-06, + "chamfer": 7.610436114191543e-06, + "track": 2.3278601020138012e-06, + "acceleration": 2.2640617203251168e-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": 1.017966860672459e-05, + "observation_loss": 1.0150545676879119e-05, + "chamfer": 7.73865122027928e-06, + "track": 2.4118942292261636e-06, + "acceleration": 2.9123336631187158e-08, + "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": 1.0342438145016786e-05, + "observation_loss": 1.0310864126950037e-05, + "chamfer": 7.804847882653121e-06, + "track": 2.5060164716705913e-06, + "acceleration": 3.1573968328757474e-08, + "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": 1.0579864465398714e-05, + "observation_loss": 1.0482905054232106e-05, + "chamfer": 7.875247320043854e-06, + "track": 2.6076579615619266e-06, + "acceleration": 9.695904168438574e-08, + "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": 1.0946185284410603e-05, + "observation_loss": 1.0803311852214392e-05, + "chamfer": 8.036835424718447e-06, + "track": 2.76647620012227e-06, + "acceleration": 1.4287360272646765e-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": 1.1249455383222084e-05, + "observation_loss": 1.1114219887531362e-05, + "chamfer": 8.200663614843506e-06, + "track": 2.9135560453141807e-06, + "acceleration": 1.3523570885354275e-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": 1.1448774785094429e-05, + "observation_loss": 1.1384921890567057e-05, + "chamfer": 8.344782145286445e-06, + "track": 3.0401397452806123e-06, + "acceleration": 6.385311479562006e-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": 1.1698108210111968e-05, + "observation_loss": 1.158407667389838e-05, + "chamfer": 8.441359568678308e-06, + "track": 3.142717105220072e-06, + "acceleration": 1.1403154331901533e-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": 1.1996083230769727e-05, + "observation_loss": 1.1919934877369087e-05, + "chamfer": 8.640397027193103e-06, + "track": 3.2795380775496596e-06, + "acceleration": 7.614816155410153e-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": 1.2413390322763007e-05, + "observation_loss": 1.2255752153578214e-05, + "chamfer": 8.819321919872891e-06, + "track": 3.4364297789579723e-06, + "acceleration": 1.5763812655222864e-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": 1.2514064110291656e-05, + "observation_loss": 1.2459715435397811e-05, + "chamfer": 8.917713785194792e-06, + "track": 3.5420011954556685e-06, + "acceleration": 5.434824146277606e-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": 1.2629346201720182e-05, + "observation_loss": 1.255610550288111e-05, + "chamfer": 8.958838407124858e-06, + "track": 3.5972666410089005e-06, + "acceleration": 7.324042172740519e-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": 1.2705906556220725e-05, + "observation_loss": 1.2642868568946142e-05, + "chamfer": 9.007677363115363e-06, + "track": 3.6351914332044544e-06, + "acceleration": 6.303785227146363e-08, + "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": 1.272151439479785e-05, + "observation_loss": 1.2674428944592364e-05, + "chamfer": 9.004946150525939e-06, + "track": 3.66948256669275e-06, + "acceleration": 4.708561363031549e-08, + "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": 1.2740246347675566e-05, + "observation_loss": 1.2691203664871864e-05, + "chamfer": 8.990075912151951e-06, + "track": 3.701127297972562e-06, + "acceleration": 4.904252648429974e-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": 1.2808721294277348e-05, + "observation_loss": 1.268745654670056e-05, + "chamfer": 8.99396400200203e-06, + "track": 3.6934923173248535e-06, + "acceleration": 1.212648754744805e-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": 1.274369060411118e-05, + "observation_loss": 1.2647373296204023e-05, + "chamfer": 8.975688615464605e-06, + "track": 3.6716842259920668e-06, + "acceleration": 9.631692421407934e-08, + "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": 1.2616487765626516e-05, + "observation_loss": 1.259721193491714e-05, + "chamfer": 8.940035513660405e-06, + "track": 3.6571766486304114e-06, + "acceleration": 1.927569037718513e-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": 1.2612686987267807e-05, + "observation_loss": 1.2555181456264108e-05, + "chamfer": 8.90363116923254e-06, + "track": 3.6515507417789195e-06, + "acceleration": 5.750552745098503e-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": 1.2599354704434518e-05, + "observation_loss": 1.2506578059401363e-05, + "chamfer": 8.865663403412327e-06, + "track": 3.6409148833627114e-06, + "acceleration": 9.277705004251402e-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": 1.2479967153922189e-05, + "observation_loss": 1.2397410500852857e-05, + "chamfer": 8.809293831291143e-06, + "track": 3.5881168969353894e-06, + "acceleration": 8.255646832822094e-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": 1.220842659677146e-05, + "observation_loss": 1.216620239574695e-05, + "chamfer": 8.685412467457354e-06, + "track": 3.480789928289596e-06, + "acceleration": 4.222397365083452e-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": 1.0174981296036853e-05, + "chamfer_mean": 7.011459892680705e-06, + "track_mean": 2.0846768758649623e-06, + "acceleration_mean": 1.0788445373351625e-06, + "observation_score": 9.096136757591466e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4319691540003987 + }, + "score_arrays_file": "pass_scores/pass_end_0078.npz", + "score_arrays_sha256": "8a004e612cad5ba4cfe0b623ca276704754b749eb074f83bebc1502a89de4d91" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0079.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0079.json new file mode 100644 index 0000000000000000000000000000000000000000..5f418df184a8f1f5c6bac0030e1bbcd1c104ae36 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0079.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 7584, + "completed_passes": 79, + "snapshot": "pass_end_0079", + "candidate": true, + "snapshot_arrays_sha256": "a13158f36f2d39ba61d146bae02b5b10d606dee0cd4a8278ea32e980d01f641f", + "score": 9.081801249995655e-06, + "score_result": { + "score": 9.081801249995655e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0575358778150985e-06, + 3.43872170560644e-06, + 4.065811936015962e-06, + 5.3134453992242925e-06, + 6.317044608294964e-06, + 6.771178959752433e-06, + 6.571849553438369e-06, + 6.158378255349817e-06, + 5.923024673393229e-06, + 5.9941617109871e-06, + 6.320532975223614e-06, + 6.597758329007775e-06, + 6.874076916574268e-06, + 7.158628250181209e-06, + 7.420837391691748e-06, + 7.713794730079826e-06, + 7.691921382502187e-06, + 7.419820576615166e-06, + 7.245418146339944e-06, + 7.232728421513457e-06, + 7.273696610354818e-06, + 7.153202204790432e-06, + 6.870787728985306e-06, + 6.7624096118379384e-06, + 7.089166047080653e-06, + 7.545209427917143e-06, + 7.74992167862365e-06, + 7.773752258799504e-06, + 7.608791747770738e-06, + 7.3869186962838285e-06, + 7.240148988785222e-06, + 7.222349267976824e-06, + 7.3378014349145815e-06, + 7.6000133049092256e-06, + 7.82198640081333e-06, + 8.146345862769522e-06, + 8.408951543970034e-06, + 8.438680197286885e-06, + 8.446498213743325e-06, + 8.656224963488057e-06, + 9.064918231160846e-06, + 9.369361578137614e-06, + 9.513189070275985e-06, + 9.670114195614588e-06, + 9.669558494351804e-06, + 9.624784070183523e-06, + 9.542942279949784e-06, + 9.787111594050657e-06, + 1.0278792615281418e-05, + 1.0690946510294452e-05, + 1.0513385859667324e-05, + 1.0149093213840388e-05, + 9.888310160022229e-06, + 9.676123227109201e-06, + 9.694850632513408e-06, + 9.754865459399298e-06, + 9.73902569967322e-06, + 9.750319804879837e-06, + 9.767222763912287e-06, + 9.830912858888041e-06, + 9.873270755633712e-06, + 9.841431165114045e-06, + 9.9076351034455e-06, + 9.977013178286143e-06, + 1.013321707432624e-05, + 1.0082074368256144e-05, + 1.0014340659836307e-05, + 9.931810382113326e-06, + 9.821101230045315e-06, + 9.698531357571483e-06, + 9.574143405188806e-06, + 9.562757441017311e-06, + 9.616698662284762e-06, + 9.740243513078894e-06, + 9.918894647853449e-06, + 1.0130286682397127e-05, + 1.0291667422279716e-05, + 1.0464958904776722e-05, + 1.078705918189371e-05, + 1.1103562428615987e-05, + 1.1378667295502964e-05, + 1.1575843927857932e-05, + 1.1910003195225727e-05, + 1.2246425285411533e-05, + 1.2450943358999211e-05, + 1.254728249477921e-05, + 1.2632729522010777e-05, + 1.2663317647820804e-05, + 1.2682179658440873e-05, + 1.2679529390879907e-05, + 1.2637894542422146e-05, + 1.258891643374227e-05, + 1.2547101505333558e-05, + 1.2498734577093273e-05, + 1.2389344192342833e-05, + 1.2157955097791273e-05 + ] + ], + "episode_mean_losses": [ + 9.081801249995655e-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": 3.0575358778150985e-06, + "observation_loss": 3.0575358778150985e-06, + "chamfer": 2.5916162940120557e-06, + "track": 4.6591964064646163e-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": 4.937193443765864e-05, + "observation_loss": 3.43872170560644e-06, + "chamfer": 2.9068264666420873e-06, + "track": 5.318951821209339e-07, + "acceleration": 4.5933211367810145e-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": 2.9794586225762032e-05, + "observation_loss": 4.065811936015962e-06, + "chamfer": 3.4167735520895803e-06, + "track": 6.490382133961248e-07, + "acceleration": 2.572877383499872e-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": 1.49561765283579e-05, + "observation_loss": 5.3134453992242925e-06, + "chamfer": 4.36492518929299e-06, + "track": 9.485199825576274e-07, + "acceleration": 9.642731129133608e-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": 1.1128407095384318e-05, + "observation_loss": 6.317044608294964e-06, + "chamfer": 5.047596914664609e-06, + "track": 1.2694476936303545e-06, + "acceleration": 4.8113624870893545e-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": 8.167491614585742e-06, + "observation_loss": 6.771178959752433e-06, + "chamfer": 5.331487955118064e-06, + "track": 1.4396908909475314e-06, + "acceleration": 1.3963125411464716e-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": 8.366288057004567e-06, + "observation_loss": 6.571849553438369e-06, + "chamfer": 5.182437689654762e-06, + "track": 1.3894117500967695e-06, + "acceleration": 1.7944383898793603e-06, + "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": 7.137420652725268e-06, + "observation_loss": 6.158378255349817e-06, + "chamfer": 4.8990632421919145e-06, + "track": 1.25931512684474e-06, + "acceleration": 9.790423973754514e-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": 6.439885510189924e-06, + "observation_loss": 5.923024673393229e-06, + "chamfer": 4.7365510909003206e-06, + "track": 1.1864734688060707e-06, + "acceleration": 5.168608367966954e-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": 6.25132361165015e-06, + "observation_loss": 5.9941617109871e-06, + "chamfer": 4.8017300287028775e-06, + "track": 1.1924315685973852e-06, + "acceleration": 2.5716187224134046e-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": 6.429671884689014e-06, + "observation_loss": 6.320532975223614e-06, + "chamfer": 5.065522145741852e-06, + "track": 1.2550109431685996e-06, + "acceleration": 1.0913896630881936e-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": 6.693690920656081e-06, + "observation_loss": 6.597758329007775e-06, + "chamfer": 5.2926475291315e-06, + "track": 1.305110572502599e-06, + "acceleration": 9.593255612116991e-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": 6.897822458995506e-06, + "observation_loss": 6.874076916574268e-06, + "chamfer": 5.537326160265366e-06, + "track": 1.336750756308902e-06, + "acceleration": 2.37454749196786e-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": 7.2405564424116164e-06, + "observation_loss": 7.158628250181209e-06, + "chamfer": 5.782758762507001e-06, + "track": 1.375869260300533e-06, + "acceleration": 8.19282348629713e-08, + "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": 7.447528332704678e-06, + "observation_loss": 7.420837391691748e-06, + "chamfer": 6.003815542499069e-06, + "track": 1.4170216218190035e-06, + "acceleration": 2.6691145293966656e-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": 7.788866241753567e-06, + "observation_loss": 7.713794730079826e-06, + "chamfer": 6.239361027837731e-06, + "track": 1.4744339296157705e-06, + "acceleration": 7.507143351404011e-08, + "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": 7.85558768257033e-06, + "observation_loss": 7.691921382502187e-06, + "chamfer": 6.223757736734115e-06, + "track": 1.4681639868285856e-06, + "acceleration": 1.6366611532703246e-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": 7.63075877330266e-06, + "observation_loss": 7.419820576615166e-06, + "chamfer": 6.022566594765522e-06, + "track": 1.3972542092233198e-06, + "acceleration": 2.1093838142860477e-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": 7.3222727223765105e-06, + "observation_loss": 7.245418146339944e-06, + "chamfer": 5.902020802750485e-06, + "track": 1.3433973435894586e-06, + "acceleration": 7.685476077767817e-08, + "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": 7.331215329031693e-06, + "observation_loss": 7.232728421513457e-06, + "chamfer": 5.8951895880454686e-06, + "track": 1.3375387197811506e-06, + "acceleration": 9.848680804225296e-08, + "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": 7.423753686452983e-06, + "observation_loss": 7.273696610354818e-06, + "chamfer": 5.9226463235972915e-06, + "track": 1.3510505141312024e-06, + "acceleration": 1.5005687714619853e-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": 7.26966027286835e-06, + "observation_loss": 7.153202204790432e-06, + "chamfer": 5.839439381816192e-06, + "track": 1.3137627092874027e-06, + "acceleration": 1.1645792596937099e-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": 7.029764674371108e-06, + "observation_loss": 6.870787728985306e-06, + "chamfer": 5.637176400341559e-06, + "track": 1.2336113286437467e-06, + "acceleration": 1.589770022292214e-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": 6.901022516103694e-06, + "observation_loss": 6.7624096118379384e-06, + "chamfer": 5.548231456486974e-06, + "track": 1.21417838272464e-06, + "acceleration": 1.3861280478977278e-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": 7.237181762320688e-06, + "observation_loss": 7.089166047080653e-06, + "chamfer": 5.774554210802307e-06, + "track": 1.3146117225915077e-06, + "acceleration": 1.4801585734858236e-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": 7.831811672076583e-06, + "observation_loss": 7.545209427917143e-06, + "chamfer": 6.086895609769272e-06, + "track": 1.458313704461034e-06, + "acceleration": 2.8660201678576414e-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": 8.031172001210507e-06, + "observation_loss": 7.74992167862365e-06, + "chamfer": 6.226927325769793e-06, + "track": 1.5229945802275324e-06, + "acceleration": 2.8125029416514735e-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": 7.954969987622462e-06, + "observation_loss": 7.773752258799504e-06, + "chamfer": 6.2579474615631625e-06, + "track": 1.5158045698626665e-06, + "acceleration": 1.812173309190257e-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": 8.012349098862614e-06, + "observation_loss": 7.608791747770738e-06, + "chamfer": 6.148918146209326e-06, + "track": 1.45987371524825e-06, + "acceleration": 4.035570384530729e-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": 7.596531759190839e-06, + "observation_loss": 7.3869186962838285e-06, + "chamfer": 5.9912372307735495e-06, + "track": 1.3956815791971167e-06, + "acceleration": 2.0961299185273674e-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": 7.303386610146845e-06, + "observation_loss": 7.240148988785222e-06, + "chamfer": 5.889445674256422e-06, + "track": 1.350703087155125e-06, + "acceleration": 6.323742951508393e-08, + "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": 7.2605707828188315e-06, + "observation_loss": 7.222349267976824e-06, + "chamfer": 5.882706318516284e-06, + "track": 1.3396430631473777e-06, + "acceleration": 3.8221678266836534e-08, + "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": 7.395586635539075e-06, + "observation_loss": 7.3378014349145815e-06, + "chamfer": 5.979234629194252e-06, + "track": 1.3585670330940047e-06, + "acceleration": 5.778508693765616e-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": 7.672523679502774e-06, + "observation_loss": 7.6000133049092256e-06, + "chamfer": 6.172717348817969e-06, + "track": 1.4272961834649323e-06, + "acceleration": 7.251031775012962e-08, + "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": 7.915241440059617e-06, + "observation_loss": 7.82198640081333e-06, + "chamfer": 6.337393642752431e-06, + "track": 1.4845928717477364e-06, + "acceleration": 9.325540162308243e-08, + "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": 8.316969797306228e-06, + "observation_loss": 8.146345862769522e-06, + "chamfer": 6.568449862243142e-06, + "track": 1.5778964552737307e-06, + "acceleration": 1.7062400559098023e-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": 8.470953616779298e-06, + "observation_loss": 8.408951543970034e-06, + "chamfer": 6.747642601112602e-06, + "track": 1.6613089428574312e-06, + "acceleration": 6.200169622161411e-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": 8.788786544755567e-06, + "observation_loss": 8.438680197286885e-06, + "chamfer": 6.76539093547035e-06, + "track": 1.6732891481296974e-06, + "acceleration": 3.501066885291948e-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": 8.516295565641485e-06, + "observation_loss": 8.446498213743325e-06, + "chamfer": 6.786716767237522e-06, + "track": 1.6597812191321282e-06, + "acceleration": 6.979772138038243e-08, + "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": 8.81214964465471e-06, + "observation_loss": 8.656224963488057e-06, + "chamfer": 6.940034836588893e-06, + "track": 1.7161903542728396e-06, + "acceleration": 1.5592456747981487e-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": 9.283308827434666e-06, + "observation_loss": 9.064918231160846e-06, + "chamfer": 7.222666681627743e-06, + "track": 1.842251776906778e-06, + "acceleration": 2.1839042574356426e-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": 9.500993655819912e-06, + "observation_loss": 9.369361578137614e-06, + "chamfer": 7.429909601341933e-06, + "track": 1.9394522041693563e-06, + "acceleration": 1.3163177925434866e-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": 9.623516234569252e-06, + "observation_loss": 9.513189070275985e-06, + "chamfer": 7.511822786909761e-06, + "track": 2.001366283366224e-06, + "acceleration": 1.1032688007617253e-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": 9.753252015798353e-06, + "observation_loss": 9.670114195614588e-06, + "chamfer": 7.608662144775735e-06, + "track": 2.061451823465177e-06, + "acceleration": 8.313789834346608e-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": 9.766550647327676e-06, + "observation_loss": 9.669558494351804e-06, + "chamfer": 7.604161510244012e-06, + "track": 2.0653965293604415e-06, + "acceleration": 9.699181902078635e-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": 9.704781405162066e-06, + "observation_loss": 9.624784070183523e-06, + "chamfer": 7.571827609353932e-06, + "track": 2.0529569155769423e-06, + "acceleration": 7.999739892738944e-08, + "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": 9.729076737130526e-06, + "observation_loss": 9.542942279949784e-06, + "chamfer": 7.513484888477251e-06, + "track": 2.029457164098858e-06, + "acceleration": 1.8613405927681015e-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": 9.90904027275974e-06, + "observation_loss": 9.787111594050657e-06, + "chamfer": 7.673379514017142e-06, + "track": 2.1137320800335146e-06, + "acceleration": 1.2192843712455215e-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": 1.0349723197577987e-05, + "observation_loss": 1.0278792615281418e-05, + "chamfer": 7.977608220244292e-06, + "track": 2.3011846224108012e-06, + "acceleration": 7.093068177255191e-08, + "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": 1.0932085388049018e-05, + "observation_loss": 1.0690946510294452e-05, + "chamfer": 8.248877747973893e-06, + "track": 2.4420683075732086e-06, + "acceleration": 2.411387640677276e-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": 1.0614868187985849e-05, + "observation_loss": 1.0513385859667324e-05, + "chamfer": 8.140893442032393e-06, + "track": 2.3724924176349305e-06, + "acceleration": 1.0148249174335433e-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": 1.0288230441801716e-05, + "observation_loss": 1.0149093213840388e-05, + "chamfer": 7.912183718872257e-06, + "track": 2.2369092675944557e-06, + "acceleration": 1.3913698637679772e-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": 9.932616194419097e-06, + "observation_loss": 9.888310160022229e-06, + "chamfer": 7.7353779488476e-06, + "track": 2.152932438548305e-06, + "acceleration": 4.430606281857763e-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": 9.741127541929018e-06, + "observation_loss": 9.676123227109201e-06, + "chamfer": 7.5797706813318655e-06, + "track": 2.096352091029985e-06, + "acceleration": 6.500442850665422e-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": 9.759958629729226e-06, + "observation_loss": 9.694850632513408e-06, + "chamfer": 7.578107215522323e-06, + "track": 2.1167436443647603e-06, + "acceleration": 6.510794037239975e-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": 9.84271082415944e-06, + "observation_loss": 9.754865459399298e-06, + "chamfer": 7.610251486767083e-06, + "track": 2.144613745258539e-06, + "acceleration": 8.784564897723612e-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": 9.809688890527468e-06, + "observation_loss": 9.73902569967322e-06, + "chamfer": 7.593469490529969e-06, + "track": 2.1455557543959003e-06, + "acceleration": 7.06629492697175e-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": 9.867881999525707e-06, + "observation_loss": 9.750319804879837e-06, + "chamfer": 7.574726168968482e-06, + "track": 2.175593635911355e-06, + "acceleration": 1.1756245044125535e-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": 9.981999028241262e-06, + "observation_loss": 9.767222763912287e-06, + "chamfer": 7.577039468742441e-06, + "track": 2.1901832951698452e-06, + "acceleration": 2.1477616485299222e-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": 1.0277346518705599e-05, + "observation_loss": 9.830912858888041e-06, + "chamfer": 7.5911766543868e-06, + "track": 2.239736431874917e-06, + "acceleration": 4.464338587695238e-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": 1.0473602742422372e-05, + "observation_loss": 9.873270755633712e-06, + "chamfer": 7.61058845455409e-06, + "track": 2.262682528453297e-06, + "acceleration": 6.003320436320791e-07, + "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": 1.0104589819093235e-05, + "observation_loss": 9.841431165114045e-06, + "chamfer": 7.581689715152606e-06, + "track": 2.2597419047087897e-06, + "acceleration": 2.631585687140614e-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": 9.995884283853229e-06, + "observation_loss": 9.9076351034455e-06, + "chamfer": 7.63331354391994e-06, + "track": 2.2743215595255606e-06, + "acceleration": 8.824920172401107e-08, + "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": 1.0046286661236081e-05, + "observation_loss": 9.977013178286143e-06, + "chamfer": 7.679983355046716e-06, + "track": 2.297029823239427e-06, + "acceleration": 6.927357532049427e-08, + "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": 1.0211128937953617e-05, + "observation_loss": 1.013321707432624e-05, + "chamfer": 7.777482096571475e-06, + "track": 2.3557345230074134e-06, + "acceleration": 7.791215494989956e-08, + "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": 1.0161505088035483e-05, + "observation_loss": 1.0082074368256144e-05, + "chamfer": 7.740740329609253e-06, + "track": 2.3413338112732163e-06, + "acceleration": 7.943076951733019e-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": 1.0172883776249364e-05, + "observation_loss": 1.0014340659836307e-05, + "chamfer": 7.677967914787587e-06, + "track": 2.3363722903013695e-06, + "acceleration": 1.5854347168442473e-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": 1.0022090464190114e-05, + "observation_loss": 9.931810382113326e-06, + "chamfer": 7.585311323055066e-06, + "track": 2.3464988316845847e-06, + "acceleration": 9.028002523336909e-08, + "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": 9.895829862216488e-06, + "observation_loss": 9.821101230045315e-06, + "chamfer": 7.483180979761528e-06, + "track": 2.3379204776574625e-06, + "acceleration": 7.472846874634342e-08, + "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": 9.904049875331111e-06, + "observation_loss": 9.698531357571483e-06, + "chamfer": 7.4040690378751606e-06, + "track": 2.294462774443673e-06, + "acceleration": 2.0551820512082486e-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": 1.0076262697111815e-05, + "observation_loss": 9.574143405188806e-06, + "chamfer": 7.3474620876368135e-06, + "track": 2.226681317551993e-06, + "acceleration": 5.021189508624957e-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": 9.821144885791e-06, + "observation_loss": 9.562757441017311e-06, + "chamfer": 7.344300684053451e-06, + "track": 2.218456529590185e-06, + "acceleration": 2.5838784267762094e-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": 9.988219972001389e-06, + "observation_loss": 9.616698662284762e-06, + "chamfer": 7.397849913104437e-06, + "track": 2.2188492039276753e-06, + "acceleration": 3.715214802468836e-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": 1.0554360414971597e-05, + "observation_loss": 9.740243513078894e-06, + "chamfer": 7.484855814254843e-06, + "track": 2.255387926197727e-06, + "acceleration": 8.14116901892703e-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": 1.0146349268325139e-05, + "observation_loss": 9.918894647853449e-06, + "chamfer": 7.59785098125576e-06, + "track": 2.321043439224013e-06, + "acceleration": 2.274550325864766e-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": 1.0159180419577751e-05, + "observation_loss": 1.0130286682397127e-05, + "chamfer": 7.725786417722702e-06, + "track": 2.4044998099270742e-06, + "acceleration": 2.889381889303877e-08, + "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": 1.032305954140611e-05, + "observation_loss": 1.0291667422279716e-05, + "chamfer": 7.793398253852502e-06, + "track": 2.498268713679863e-06, + "acceleration": 3.139208715197128e-08, + "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": 1.0558558642514981e-05, + "observation_loss": 1.0464958904776722e-05, + "chamfer": 7.864662620704621e-06, + "track": 2.6002958293247502e-06, + "acceleration": 9.359931141261768e-08, + "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": 1.0930040843959432e-05, + "observation_loss": 1.078705918189371e-05, + "chamfer": 8.026445357245393e-06, + "track": 2.7606135972746415e-06, + "acceleration": 1.429819036502522e-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": 1.1239808372920379e-05, + "observation_loss": 1.1103562428615987e-05, + "chamfer": 8.19355500425445e-06, + "track": 2.9100069696141873e-06, + "acceleration": 1.3624597272610117e-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": 1.1442374670878053e-05, + "observation_loss": 1.1378667295502964e-05, + "chamfer": 8.341016837221105e-06, + "track": 3.0376502309081843e-06, + "acceleration": 6.370773064645618e-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": 1.1689538041537162e-05, + "observation_loss": 1.1575843927857932e-05, + "chamfer": 8.436180905846413e-06, + "track": 3.139662794637843e-06, + "acceleration": 1.1369420604978586e-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": 1.1987539437541272e-05, + "observation_loss": 1.1910003195225727e-05, + "chamfer": 8.634584446554072e-06, + "track": 3.27541897604533e-06, + "acceleration": 7.75366402194777e-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": 1.2407042959239334e-05, + "observation_loss": 1.2246425285411533e-05, + "chamfer": 8.814174179860856e-06, + "track": 3.4322511055506766e-06, + "acceleration": 1.6061763119523675e-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": 1.2505136510299053e-05, + "observation_loss": 1.2450943358999211e-05, + "chamfer": 8.912984412745573e-06, + "track": 3.537959173627314e-06, + "acceleration": 5.419339643708554e-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": 1.2620916095329449e-05, + "observation_loss": 1.254728249477921e-05, + "chamfer": 8.954123586590867e-06, + "track": 3.593158908188343e-06, + "acceleration": 7.363363607737483e-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": 1.2696199519268703e-05, + "observation_loss": 1.2632729522010777e-05, + "chamfer": 9.0024122982868e-06, + "track": 3.6303174510976532e-06, + "acceleration": 6.347033121301138e-08, + "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": 1.2710658666037489e-05, + "observation_loss": 1.2663317647820804e-05, + "chamfer": 8.998879820865113e-06, + "track": 3.6644375995820155e-06, + "acceleration": 4.734104308568021e-08, + "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": 1.2731479728245176e-05, + "observation_loss": 1.2682179658440873e-05, + "chamfer": 8.985491149360314e-06, + "track": 3.69668896382791e-06, + "acceleration": 4.9300496129944804e-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": 1.2801450793631375e-05, + "observation_loss": 1.2679529390879907e-05, + "chamfer": 8.99008591659367e-06, + "track": 3.689443019538885e-06, + "acceleration": 1.219218432879643e-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": 1.2735814379993826e-05, + "observation_loss": 1.2637894542422146e-05, + "chamfer": 8.9707609731704e-06, + "track": 3.6671337966254214e-06, + "acceleration": 9.791978072826168e-08, + "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": 1.2607591997948475e-05, + "observation_loss": 1.258891643374227e-05, + "chamfer": 8.935716323321685e-06, + "track": 3.6532001104205847e-06, + "acceleration": 1.867556420620531e-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": 1.2603972209035419e-05, + "observation_loss": 1.2547101505333558e-05, + "chamfer": 8.899437489162665e-06, + "track": 3.647664016170893e-06, + "acceleration": 5.687042303748058e-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": 1.2592311577463988e-05, + "observation_loss": 1.2498734577093273e-05, + "chamfer": 8.861691640049685e-06, + "track": 3.6370433917909395e-06, + "acceleration": 9.35770358978516e-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": 1.2473126844270155e-05, + "observation_loss": 1.2389344192342833e-05, + "chamfer": 8.804652679827996e-06, + "track": 3.5846912851411616e-06, + "acceleration": 8.378263771646743e-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": 1.2200857781863306e-05, + "observation_loss": 1.2157955097791273e-05, + "chamfer": 8.680476639710832e-06, + "track": 3.4774782307067653e-06, + "acceleration": 4.290250998906231e-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": 1.0159471943419854e-05, + "chamfer_mean": 7.001835840014792e-06, + "track_mean": 2.0799653892566994e-06, + "acceleration_mean": 1.077670680046013e-06, + "observation_score": 9.081801249995655e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4172183869995933 + }, + "score_arrays_file": "pass_scores/pass_end_0079.npz", + "score_arrays_sha256": "46f53f74d46b248b2cdbaa77669ee7bdb0103e285537e65a51c5b2b6a44c3b2a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0080.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0080.json new file mode 100644 index 0000000000000000000000000000000000000000..476c03502e9939c16418acc05681c2e5c7a1b735 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0080.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 7680, + "completed_passes": 80, + "snapshot": "pass_end_0080", + "candidate": true, + "snapshot_arrays_sha256": "f3c66098a0ad4f696abe1657fab9e9bc622529a2ab934c432068b3f96328f113", + "score": 9.0696831260099e-06, + "score_result": { + "score": 9.0696831260099e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0540336410922464e-06, + 3.4377703741483856e-06, + 4.060674655192997e-06, + 5.302422323438805e-06, + 6.303921054495731e-06, + 6.761562872270588e-06, + 6.568518983840477e-06, + 6.157176358101424e-06, + 5.921059255342698e-06, + 5.990526460664114e-06, + 6.316819053608924e-06, + 6.593027592316503e-06, + 6.867931460874388e-06, + 7.150126293709036e-06, + 7.405857104458846e-06, + 7.692400686210021e-06, + 7.665163138881326e-06, + 7.3900628194678575e-06, + 7.2159236879087985e-06, + 7.203777386166621e-06, + 7.245072993100621e-06, + 7.126862328732386e-06, + 6.845133157185046e-06, + 6.736757313774433e-06, + 7.059802555886563e-06, + 7.514890967286192e-06, + 7.721220754319802e-06, + 7.74659201852046e-06, + 7.5830030255019665e-06, + 7.364513294305652e-06, + 7.21947935744538e-06, + 7.204067060229136e-06, + 7.3207825153076556e-06, + 7.582785656268243e-06, + 7.804776942066383e-06, + 8.13097540230956e-06, + 8.395270924665965e-06, + 8.423784493061248e-06, + 8.432159120275173e-06, + 8.641901331429835e-06, + 9.050157132151071e-06, + 9.356172085972503e-06, + 9.498028703092132e-06, + 9.65512117545586e-06, + 9.655983376433142e-06, + 9.610292181605473e-06, + 9.528880582365673e-06, + 9.77490435616346e-06, + 1.0267816833220422e-05, + 1.0680755622161087e-05, + 1.0503169505682308e-05, + 1.0139894584426656e-05, + 9.878646778815892e-06, + 9.66526749834884e-06, + 9.683130883786362e-06, + 9.74257000052603e-06, + 9.726347343530506e-06, + 9.737292202771641e-06, + 9.753959602676332e-06, + 9.817336831474677e-06, + 9.860235877567902e-06, + 9.830418093770277e-06, + 9.89842646959005e-06, + 9.97013739834074e-06, + 1.0127921086677816e-05, + 1.0078380910272244e-05, + 1.0011883205152117e-05, + 9.929603038472123e-06, + 9.819155820878223e-06, + 9.695907465356868e-06, + 9.568073437549174e-06, + 9.554685675539076e-06, + 9.60723809839692e-06, + 9.729533303470816e-06, + 9.904898433887865e-06, + 1.011522635963047e-05, + 1.0276824468746781e-05, + 1.0450960871821735e-05, + 1.0774876500363462e-05, + 1.1096810339950025e-05, + 1.1374850146239623e-05, + 1.1570489732548594e-05, + 1.190239163406659e-05, + 1.2240120668138843e-05, + 1.24455000332091e-05, + 1.2541680916910991e-05, + 1.2626506759261247e-05, + 1.265722585230833e-05, + 1.2677611266553868e-05, + 1.2675331163336523e-05, + 1.2632533071155194e-05, + 1.2584004252857994e-05, + 1.2543098819151055e-05, + 1.249437718797708e-05, + 1.2384945875965059e-05, + 1.2153402167314198e-05 + ] + ], + "episode_mean_losses": [ + 9.0696831260099e-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": 3.0540336410922464e-06, + "observation_loss": 3.0540336410922464e-06, + "chamfer": 2.58869454228261e-06, + "track": 4.653391840747645e-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": 4.9281723477179185e-05, + "observation_loss": 3.4377703741483856e-06, + "chamfer": 2.906051577156177e-06, + "track": 5.317187969922088e-07, + "acceleration": 4.584395355777815e-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": 2.9755363357253373e-05, + "observation_loss": 4.060674655192997e-06, + "chamfer": 3.4127231174352346e-06, + "track": 6.479513103840873e-07, + "acceleration": 2.5694689611555077e-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": 1.4939369066269137e-05, + "observation_loss": 5.302422323438805e-06, + "chamfer": 4.356936642579967e-06, + "track": 9.454857945456752e-07, + "acceleration": 9.636946742830332e-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": 1.1093051398347598e-05, + "observation_loss": 6.303921054495731e-06, + "chamfer": 5.039089955971576e-06, + "track": 1.2648312122109928e-06, + "acceleration": 4.789130343851866e-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": 8.154558599926531e-06, + "observation_loss": 6.761562872270588e-06, + "chamfer": 5.325556230673101e-06, + "track": 1.4360067552843248e-06, + "acceleration": 1.3929957276559435e-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": 8.372207048523705e-06, + "observation_loss": 6.568518983840477e-06, + "chamfer": 5.1803003771055955e-06, + "track": 1.388218720421719e-06, + "acceleration": 1.8036880646832287e-06, + "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": 7.148163149395259e-06, + "observation_loss": 6.157176358101424e-06, + "chamfer": 4.898128281638492e-06, + "track": 1.2590481901497697e-06, + "acceleration": 9.90986904980673e-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": 6.447502528317273e-06, + "observation_loss": 5.921059255342698e-06, + "chamfer": 4.735131369670853e-06, + "track": 1.185927771985007e-06, + "acceleration": 5.264432729745749e-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": 6.249687430681661e-06, + "observation_loss": 5.990526460664114e-06, + "chamfer": 4.799219368578633e-06, + "track": 1.191306978398643e-06, + "acceleration": 2.5916111212609394e-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": 6.4282698986062314e-06, + "observation_loss": 6.316819053608924e-06, + "chamfer": 5.0629819270398e-06, + "track": 1.2538373539427994e-06, + "acceleration": 1.1145102973841858e-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": 6.68891925670323e-06, + "observation_loss": 6.593027592316503e-06, + "chamfer": 5.289182354317745e-06, + "track": 1.3038453516855952e-06, + "acceleration": 9.58914654347609e-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": 6.8917452153982595e-06, + "observation_loss": 6.867931460874388e-06, + "chamfer": 5.5326081564999186e-06, + "track": 1.3353231906876317e-06, + "acceleration": 2.381362307346535e-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": 7.233340966195101e-06, + "observation_loss": 7.150126293709036e-06, + "chamfer": 5.776201760454569e-06, + "track": 1.3739247606281424e-06, + "acceleration": 8.321449485038102e-08, + "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": 7.432395705109229e-06, + "observation_loss": 7.405857104458846e-06, + "chamfer": 5.992681963107316e-06, + "track": 1.4131749139778549e-06, + "acceleration": 2.6538677033727254e-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": 7.765062946418766e-06, + "observation_loss": 7.692400686210021e-06, + "chamfer": 6.223877335287398e-06, + "track": 1.4685238056699745e-06, + "acceleration": 7.266207546763326e-08, + "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": 7.825630746083334e-06, + "observation_loss": 7.665163138881326e-06, + "chamfer": 6.204480087035336e-06, + "track": 1.460683506593341e-06, + "acceleration": 1.6046762141286308e-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": 7.599962373205926e-06, + "observation_loss": 7.3900628194678575e-06, + "chamfer": 6.001219844620209e-06, + "track": 1.3888427474739728e-06, + "acceleration": 2.0989944005123107e-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": 7.2948641900438815e-06, + "observation_loss": 7.2159236879087985e-06, + "chamfer": 5.880963726667687e-06, + "track": 1.3349598475542734e-06, + "acceleration": 7.894030318311707e-08, + "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": 7.303607617359376e-06, + "observation_loss": 7.203777386166621e-06, + "chamfer": 5.874456746823853e-06, + "track": 1.3293208667164436e-06, + "acceleration": 9.983045146100267e-08, + "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": 7.396798991976539e-06, + "observation_loss": 7.245072993100621e-06, + "chamfer": 5.902058092033258e-06, + "track": 1.3430146736936877e-06, + "acceleration": 1.517260272976273e-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": 7.244069365697214e-06, + "observation_loss": 7.126862328732386e-06, + "chamfer": 5.820619662699755e-06, + "track": 1.3062424386589555e-06, + "acceleration": 1.172071790733753e-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": 7.003569862717995e-06, + "observation_loss": 6.845133157185046e-06, + "chamfer": 5.618453997158213e-06, + "track": 1.2266792737136711e-06, + "acceleration": 1.5843666290038527e-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": 6.875108738313429e-06, + "observation_loss": 6.736757313774433e-06, + "chamfer": 5.52947449250496e-06, + "track": 1.2072829349563108e-06, + "acceleration": 1.3835158085839794e-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": 7.207882845250424e-06, + "observation_loss": 7.059802555886563e-06, + "chamfer": 5.753173809353029e-06, + "track": 1.3066288602203713e-06, + "acceleration": 1.4808010462274979e-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": 7.801069841661956e-06, + "observation_loss": 7.514890967286192e-06, + "chamfer": 6.0653878790617455e-06, + "track": 1.4495030882244464e-06, + "acceleration": 2.8617859015867e-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": 8.00312864157604e-06, + "observation_loss": 7.721220754319802e-06, + "chamfer": 6.2066833379503805e-06, + "track": 1.5145373026825837e-06, + "acceleration": 2.8190763146085374e-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": 7.928570994408801e-06, + "observation_loss": 7.74659201852046e-06, + "chamfer": 6.238481091713766e-06, + "track": 1.5081108131198562e-06, + "acceleration": 1.819793880031284e-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": 7.986203854670748e-06, + "observation_loss": 7.5830030255019665e-06, + "chamfer": 6.129950634203851e-06, + "track": 1.453052504984953e-06, + "acceleration": 4.032012554944231e-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": 7.574837582069449e-06, + "observation_loss": 7.364513294305652e-06, + "chamfer": 5.97481675868039e-06, + "track": 1.3896963082515867e-06, + "acceleration": 2.1032438723977975e-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": 7.282470505742822e-06, + "observation_loss": 7.21947935744538e-06, + "chamfer": 5.874107046111021e-06, + "track": 1.3453723113343585e-06, + "acceleration": 6.299097776718554e-08, + "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": 7.242770152515732e-06, + "observation_loss": 7.204067060229136e-06, + "chamfer": 5.868990683666198e-06, + "track": 1.3350764902497758e-06, + "acceleration": 3.8703301896703124e-08, + "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": 7.381496743619209e-06, + "observation_loss": 7.3207825153076556e-06, + "chamfer": 5.966442131466465e-06, + "track": 1.3543404975280282e-06, + "acceleration": 6.071402935958758e-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": 7.656918569409754e-06, + "observation_loss": 7.582785656268243e-06, + "chamfer": 6.159982604003744e-06, + "track": 1.422803279638174e-06, + "acceleration": 7.413265734612651e-08, + "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": 7.897193427197635e-06, + "observation_loss": 7.804776942066383e-06, + "chamfer": 6.3247202888305765e-06, + "track": 1.4800564258621307e-06, + "acceleration": 9.241692566774873e-08, + "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": 8.300987246911973e-06, + "observation_loss": 8.13097540230956e-06, + "chamfer": 6.557287633768283e-06, + "track": 1.573687995914952e-06, + "acceleration": 1.7001198671096063e-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": 8.458844604319893e-06, + "observation_loss": 8.395270924665965e-06, + "chamfer": 6.738102456438355e-06, + "track": 1.65716846822761e-06, + "acceleration": 6.357365833764561e-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": 8.776150025369134e-06, + "observation_loss": 8.423784493061248e-06, + "chamfer": 6.755042704753578e-06, + "track": 1.6687414472471573e-06, + "acceleration": 3.5236575968156103e-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": 8.503167919116095e-06, + "observation_loss": 8.432159120275173e-06, + "chamfer": 6.776986992917955e-06, + "track": 1.6551717862967052e-06, + "acceleration": 7.10088770006223e-08, + "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": 8.798416274657939e-06, + "observation_loss": 8.641901331429835e-06, + "chamfer": 6.930276867933571e-06, + "track": 1.711624463496264e-06, + "acceleration": 1.565145595350259e-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": 9.2684495029971e-06, + "observation_loss": 9.050157132151071e-06, + "chamfer": 7.212741365947295e-06, + "track": 1.8374154251432628e-06, + "acceleration": 2.1829224294833693e-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": 9.485980626777746e-06, + "observation_loss": 9.356172085972503e-06, + "chamfer": 7.420878318953328e-06, + "track": 1.935294221766526e-06, + "acceleration": 1.2980859764866182e-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": 9.607871106709354e-06, + "observation_loss": 9.498028703092132e-06, + "chamfer": 7.501503205276094e-06, + "track": 1.996525270442362e-06, + "acceleration": 1.0984262388546995e-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": 9.737525942909997e-06, + "observation_loss": 9.65512117545586e-06, + "chamfer": 7.59844078856986e-06, + "track": 2.0566803868860006e-06, + "acceleration": 8.240451165875129e-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": 9.750949175213464e-06, + "observation_loss": 9.655983376433142e-06, + "chamfer": 7.595146144012688e-06, + "track": 2.0608370050467784e-06, + "acceleration": 9.496540087639005e-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": 9.68957283475902e-06, + "observation_loss": 9.610292181605473e-06, + "chamfer": 7.562087830592645e-06, + "track": 2.048204351012828e-06, + "acceleration": 7.928063183726408e-08, + "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": 9.715328815218527e-06, + "observation_loss": 9.528880582365673e-06, + "chamfer": 7.50385061110137e-06, + "track": 2.0250299712643027e-06, + "acceleration": 1.8644858812422171e-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": 9.897475138131995e-06, + "observation_loss": 9.77490435616346e-06, + "chamfer": 7.665161319891922e-06, + "track": 2.1097430362715386e-06, + "acceleration": 1.2257109460733773e-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": 1.0339728760300204e-05, + "observation_loss": 1.0267816833220422e-05, + "chamfer": 7.970128535816912e-06, + "track": 2.2976878426561598e-06, + "acceleration": 7.191192707978189e-08, + "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": 1.0922398359980434e-05, + "observation_loss": 1.0680755622161087e-05, + "chamfer": 8.241985597123858e-06, + "track": 2.438770025037229e-06, + "acceleration": 2.4164228307199664e-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": 1.0604329872876406e-05, + "observation_loss": 1.0503169505682308e-05, + "chamfer": 8.13386395748239e-06, + "track": 2.369305548199918e-06, + "acceleration": 1.0116031745610599e-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": 1.027880898618605e-05, + "observation_loss": 1.0139894584426656e-05, + "chamfer": 7.905866368673742e-06, + "track": 2.2340282157529145e-06, + "acceleration": 1.3891461492221424e-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": 9.924052392307203e-06, + "observation_loss": 9.878646778815892e-06, + "chamfer": 7.728968739684206e-06, + "track": 2.1496782665053615e-06, + "acceleration": 4.540516229667446e-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": 9.728948498377576e-06, + "observation_loss": 9.66526749834884e-06, + "chamfer": 7.57270890971995e-06, + "track": 2.09255858862889e-06, + "acceleration": 6.368139793266892e-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": 9.746950127009768e-06, + "observation_loss": 9.683130883786362e-06, + "chamfer": 7.570617526653223e-06, + "track": 2.1125135845068144e-06, + "acceleration": 6.381937822652617e-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": 9.831504030444194e-06, + "observation_loss": 9.74257000052603e-06, + "chamfer": 7.602418008900713e-06, + "track": 2.1401519916253164e-06, + "acceleration": 8.893417913213852e-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": 9.796641279535834e-06, + "observation_loss": 9.726347343530506e-06, + "chamfer": 7.585504590679193e-06, + "track": 2.140842752851313e-06, + "acceleration": 7.029352389054111e-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": 9.85488441074267e-06, + "observation_loss": 9.737292202771641e-06, + "chamfer": 7.566620752186282e-06, + "track": 2.1706714505853597e-06, + "acceleration": 1.1759222928731106e-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": 9.97035840555327e-06, + "observation_loss": 9.753959602676332e-06, + "chamfer": 7.568709861516254e-06, + "track": 2.185249741160078e-06, + "acceleration": 2.1639847602727968e-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": 1.0266578101436608e-05, + "observation_loss": 9.817336831474677e-06, + "chamfer": 7.582842044939753e-06, + "track": 2.234494331787573e-06, + "acceleration": 4.49241611022444e-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": 1.0465964805916883e-05, + "observation_loss": 9.860235877567902e-06, + "chamfer": 7.602724508615211e-06, + "track": 2.2575113689526916e-06, + "acceleration": 6.057290988792374e-07, + "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": 1.0097006452269852e-05, + "observation_loss": 9.830418093770277e-06, + "chamfer": 7.5751686381408945e-06, + "track": 2.2552496830030577e-06, + "acceleration": 2.6658858587325085e-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": 9.987191333493683e-06, + "observation_loss": 9.89842646959005e-06, + "chamfer": 7.627988452441059e-06, + "track": 2.27043801714899e-06, + "acceleration": 8.876482837649746e-08, + "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": 1.0040303095593117e-05, + "observation_loss": 9.97013739834074e-06, + "chamfer": 7.676043423998635e-06, + "track": 2.2940942017157795e-06, + "acceleration": 7.016609515630989e-08, + "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": 1.0206910701526795e-05, + "observation_loss": 1.0127921086677816e-05, + "chamfer": 7.77425793785369e-06, + "track": 2.35366292145045e-06, + "acceleration": 7.898994169863727e-08, + "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": 1.0158360964851454e-05, + "observation_loss": 1.0078380910272244e-05, + "chamfer": 7.738535714452155e-06, + "track": 2.339844968446414e-06, + "acceleration": 7.997975615126052e-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": 1.0171545000048354e-05, + "observation_loss": 1.0011883205152117e-05, + "chamfer": 7.67665096645942e-06, + "track": 2.335232693440048e-06, + "acceleration": 1.5966200805905828e-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": 1.0020368790719658e-05, + "observation_loss": 9.929603038472123e-06, + "chamfer": 7.583824753965018e-06, + "track": 2.3457780571334297e-06, + "acceleration": 9.076590856693656e-08, + "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": 9.89427644526586e-06, + "observation_loss": 9.819155820878223e-06, + "chamfer": 7.481794455088675e-06, + "track": 2.3373609110421967e-06, + "acceleration": 7.51205533333632e-08, + "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": 9.901918929244857e-06, + "observation_loss": 9.695907465356868e-06, + "chamfer": 7.4023964771186e-06, + "track": 2.293511215611943e-06, + "acceleration": 2.060115491531178e-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": 1.0072526492876932e-05, + "observation_loss": 9.568073437549174e-06, + "chamfer": 7.343250217672903e-06, + "track": 2.2248229925025953e-06, + "acceleration": 5.044526574238262e-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": 9.81435823632637e-06, + "observation_loss": 9.554685675539076e-06, + "chamfer": 7.338697741943179e-06, + "track": 2.2159883883432485e-06, + "acceleration": 2.596726744741318e-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": 9.967292498913594e-06, + "observation_loss": 9.60723809839692e-06, + "chamfer": 7.391173312498722e-06, + "track": 2.2160643311508466e-06, + "acceleration": 3.6005462789034937e-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": 1.0498566552996635e-05, + "observation_loss": 9.729533303470816e-06, + "chamfer": 7.477558028767817e-06, + "track": 2.2519752747029997e-06, + "acceleration": 7.690330789955624e-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": 1.0121212653757539e-05, + "observation_loss": 9.904898433887865e-06, + "chamfer": 7.588767857669154e-06, + "track": 2.3161308035923867e-06, + "acceleration": 2.163142767130921e-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": 1.0143632607650943e-05, + "observation_loss": 1.011522635963047e-05, + "chamfer": 7.71632585383486e-06, + "track": 2.3989007331692846e-06, + "acceleration": 2.840632973288848e-08, + "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": 1.0307682714483235e-05, + "observation_loss": 1.0276824468746781e-05, + "chamfer": 7.784562512824778e-06, + "track": 2.4922624106693547e-06, + "acceleration": 3.085810718062021e-08, + "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": 1.0542960808379576e-05, + "observation_loss": 1.0450960871821735e-05, + "chamfer": 7.856516276660841e-06, + "track": 2.594444595160894e-06, + "acceleration": 9.199953865390853e-08, + "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": 1.0918821317318361e-05, + "observation_loss": 1.0774876500363462e-05, + "chamfer": 8.018658263608813e-06, + "track": 2.7562177820072975e-06, + "acceleration": 1.4394453273780528e-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": 1.1232397810090333e-05, + "observation_loss": 1.1096810339950025e-05, + "chamfer": 8.188926585717127e-06, + "track": 2.9078832994855475e-06, + "acceleration": 1.35587328031761e-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": 1.1440373782534152e-05, + "observation_loss": 1.1374850146239623e-05, + "chamfer": 8.33849026093958e-06, + "track": 3.036359430552693e-06, + "acceleration": 6.552343734256283e-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": 1.1684834134939592e-05, + "observation_loss": 1.1570489732548594e-05, + "chamfer": 8.43275211082073e-06, + "track": 3.1377378491015406e-06, + "acceleration": 1.1434480740035724e-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": 1.1982776413788088e-05, + "observation_loss": 1.190239163406659e-05, + "chamfer": 8.629994226794224e-06, + "track": 3.272396952525014e-06, + "acceleration": 8.03848791974815e-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": 1.240552228409797e-05, + "observation_loss": 1.2240120668138843e-05, + "chamfer": 8.810580766294152e-06, + "track": 3.429539674471016e-06, + "acceleration": 1.6540184333280195e-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": 1.2500170669227373e-05, + "observation_loss": 1.24455000332091e-05, + "chamfer": 8.910060387279373e-06, + "track": 3.535439191182377e-06, + "acceleration": 5.467086694466161e-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": 1.2615685591299552e-05, + "observation_loss": 1.2541680916910991e-05, + "chamfer": 8.951130439527333e-06, + "track": 3.5905500226363074e-06, + "acceleration": 7.400436174975766e-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": 1.2690280527749564e-05, + "observation_loss": 1.2626506759261247e-05, + "chamfer": 8.999245437735226e-06, + "track": 3.627261548899696e-06, + "acceleration": 6.377349137665078e-08, + "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": 1.2704511391348206e-05, + "observation_loss": 1.265722585230833e-05, + "chamfer": 8.995644748210907e-06, + "track": 3.6615808767237468e-06, + "acceleration": 4.728534364062398e-08, + "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": 1.2727291505143512e-05, + "observation_loss": 1.2677611266553868e-05, + "chamfer": 8.983348379842937e-06, + "track": 3.694262659337255e-06, + "acceleration": 4.9680437541610445e-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": 1.279909338336438e-05, + "observation_loss": 1.2675331163336523e-05, + "chamfer": 8.988200534076896e-06, + "track": 3.6871301745122764e-06, + "acceleration": 1.2376241897982254e-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": 1.2732970390061382e-05, + "observation_loss": 1.2632533071155194e-05, + "chamfer": 8.968126167019363e-06, + "track": 3.6644066767621553e-06, + "acceleration": 1.004376883884106e-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": 1.2602272363437805e-05, + "observation_loss": 1.2584004252857994e-05, + "chamfer": 8.933262506616302e-06, + "track": 3.6507417462416925e-06, + "acceleration": 1.826800932747119e-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": 1.2599412912095431e-05, + "observation_loss": 1.2543098819151055e-05, + "chamfer": 8.89748025656445e-06, + "track": 3.645618789960281e-06, + "acceleration": 5.631371635672622e-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": 1.258840893569868e-05, + "observation_loss": 1.249437718797708e-05, + "chamfer": 8.859408808348235e-06, + "track": 3.63496860700252e-06, + "acceleration": 9.403195377899465e-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": 1.2469376997614745e-05, + "observation_loss": 1.2384945875965059e-05, + "chamfer": 8.802047887002118e-06, + "track": 3.582897988962941e-06, + "acceleration": 8.443094401400231e-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": 1.219717705680523e-05, + "observation_loss": 1.2153402167314198e-05, + "chamfer": 8.677547157276422e-06, + "track": 3.4758547826641006e-06, + "acceleration": 4.37752767368238e-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": 1.0145842788726137e-05, + "chamfer_mean": 6.993569906891632e-06, + "track_mean": 2.076113188032025e-06, + "acceleration_mean": 1.0761596854758082e-06, + "observation_score": 9.0696831260099e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.415342533000512 + }, + "score_arrays_file": "pass_scores/pass_end_0080.npz", + "score_arrays_sha256": "041eeb3b2c1c017bea60e164fa70051e772e3cf966b1669a3f255a5ec20586a6" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0081.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0081.json new file mode 100644 index 0000000000000000000000000000000000000000..d305935779597e634a7ffe8a514d67c18cc78564 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0081.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 7776, + "completed_passes": 81, + "snapshot": "pass_end_0081", + "candidate": true, + "snapshot_arrays_sha256": "129a55740b06159a462d9220c2a381e1265bf14bb8b41d63203ce568889f7a20", + "score": 9.060170898559742e-06, + "score_result": { + "score": 9.060170898559742e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.050867235288024e-06, + 3.436761062403093e-06, + 4.055709268868668e-06, + 5.291514298733091e-06, + 6.290821602306096e-06, + 6.7519276854000054e-06, + 6.56500651530223e-06, + 6.1558121160487644e-06, + 5.919214800087502e-06, + 5.986749783915002e-06, + 6.312984169198899e-06, + 6.588820269826101e-06, + 6.862787813588511e-06, + 7.143278708099388e-06, + 7.392139195872005e-06, + 7.671947969356552e-06, + 7.639422619831748e-06, + 7.361594725807663e-06, + 7.187795745267067e-06, + 7.176245162554551e-06, + 7.217937763925875e-06, + 7.101942173903808e-06, + 6.820593171141809e-06, + 6.712076810799772e-06, + 7.0315309130819514e-06, + 7.486087724828394e-06, + 7.694289706705604e-06, + 7.721385372860823e-06, + 7.559008736279793e-06, + 7.343756806221791e-06, + 7.200801974249771e-06, + 7.187270057329442e-06, + 7.306241059268359e-06, + 7.566992280771956e-06, + 7.790677045704797e-06, + 8.118390724121127e-06, + 8.383816748391837e-06, + 8.41251494421158e-06, + 8.423104191024322e-06, + 8.634230653115083e-06, + 9.043222235050052e-06, + 9.349669198854826e-06, + 9.49069180933293e-06, + 9.64917489909567e-06, + 9.651927030063234e-06, + 9.605979357729666e-06, + 9.525215318717528e-06, + 9.772751582204364e-06, + 1.0267406651109923e-05, + 1.068131678039208e-05, + 1.0502982149773743e-05, + 1.0139689948118757e-05, + 9.877074262476526e-06, + 9.660787327447906e-06, + 9.677006346464623e-06, + 9.73531132331118e-06, + 9.718123692437075e-06, + 9.728340955916792e-06, + 9.744327144289855e-06, + 9.807030437514186e-06, + 9.85011320153717e-06, + 9.822768333833665e-06, + 9.893115930026397e-06, + 9.967739970306866e-06, + 1.0127286259375978e-05, + 1.0079451385536231e-05, + 1.0014038707595319e-05, + 9.931688509823289e-06, + 9.821292223932687e-06, + 9.697013410914224e-06, + 9.565323125571012e-06, + 9.549535207042936e-06, + 9.600050361768808e-06, + 9.720934940560255e-06, + 9.893414244288579e-06, + 1.0100927283929195e-05, + 1.0261817806167528e-05, + 1.0436572665639687e-05, + 1.0762057172541972e-05, + 1.1089081453974359e-05, + 1.1370331776561216e-05, + 1.1564750820980407e-05, + 1.1894101589859929e-05, + 1.2232882909302134e-05, + 1.2439596503099892e-05, + 1.2535593668872025e-05, + 1.262018849956803e-05, + 1.2650483768084086e-05, + 1.2672348020714708e-05, + 1.2670398973568808e-05, + 1.2626696843653917e-05, + 1.2578346286318265e-05, + 1.2537668226286769e-05, + 1.2488863831094932e-05, + 1.2379372492432594e-05, + 1.2148481800977606e-05 + ] + ], + "episode_mean_losses": [ + 9.060170898559742e-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": 3.050867235288024e-06, + "observation_loss": 3.050867235288024e-06, + "chamfer": 2.5860567802737933e-06, + "track": 4.648103697491024e-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": 4.9187481636181474e-05, + "observation_loss": 3.436761062403093e-06, + "chamfer": 2.905229393945774e-06, + "track": 5.31531668457319e-07, + "acceleration": 4.5750719436910003e-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": 2.9715007258346304e-05, + "observation_loss": 4.055709268868668e-06, + "chamfer": 3.4088113807229092e-06, + "track": 6.468980586760154e-07, + "acceleration": 2.5659297534730285e-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": 1.4916038708179258e-05, + "observation_loss": 5.291514298733091e-06, + "chamfer": 4.348990387370577e-06, + "track": 9.42523854519095e-07, + "acceleration": 9.624524864193518e-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": 1.1056417861254886e-05, + "observation_loss": 6.290821602306096e-06, + "chamfer": 5.030589363741456e-06, + "track": 1.260232352251478e-06, + "acceleration": 4.76559625894879e-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": 8.141714715748094e-06, + "observation_loss": 6.7519276854000054e-06, + "chamfer": 5.31960495209205e-06, + "track": 1.432322619621118e-06, + "acceleration": 1.3897866892875754e-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": 8.379525752388872e-06, + "observation_loss": 6.56500651530223e-06, + "chamfer": 5.178057108423673e-06, + "track": 1.3869491795048816e-06, + "acceleration": 1.8145195781471557e-06, + "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": 7.16081922291778e-06, + "observation_loss": 6.1558121160487644e-06, + "chamfer": 4.897106009593699e-06, + "track": 1.2587063338287408e-06, + "acceleration": 1.0050071068690158e-06, + "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": 6.456056325987447e-06, + "observation_loss": 5.919214800087502e-06, + "chamfer": 4.733830337499967e-06, + "track": 1.1853843489006977e-06, + "acceleration": 5.368415827433637e-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": 6.24840458840481e-06, + "observation_loss": 5.986749783915002e-06, + "chamfer": 4.796593202627264e-06, + "track": 1.1901564676009002e-06, + "acceleration": 2.6165477606809873e-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": 6.427131665986963e-06, + "observation_loss": 6.312984169198899e-06, + "chamfer": 5.060316198068904e-06, + "track": 1.2526679711299948e-06, + "acceleration": 1.1414767442374796e-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": 6.685292191832559e-06, + "observation_loss": 6.588820269826101e-06, + "chamfer": 5.286049599817488e-06, + "track": 1.3027707836954505e-06, + "acceleration": 9.647176568705618e-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": 6.886088158353232e-06, + "observation_loss": 6.862787813588511e-06, + "chamfer": 5.528642759600189e-06, + "track": 1.334145281361998e-06, + "acceleration": 2.3300184892605103e-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": 7.227969035739079e-06, + "observation_loss": 7.143278708099388e-06, + "chamfer": 5.770899406343233e-06, + "track": 1.3723794154429925e-06, + "acceleration": 8.469037027225568e-08, + "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": 7.419182566081872e-06, + "observation_loss": 7.392139195872005e-06, + "chamfer": 5.982488801237196e-06, + "track": 1.4096506220084848e-06, + "acceleration": 2.7043302708307237e-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": 7.743448804831132e-06, + "observation_loss": 7.671947969356552e-06, + "chamfer": 6.209108505572658e-06, + "track": 1.462839350097056e-06, + "acceleration": 7.150086389628996e-08, + "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": 7.797705620760098e-06, + "observation_loss": 7.639422619831748e-06, + "chamfer": 6.185991423990345e-06, + "track": 1.453431082154566e-06, + "acceleration": 1.582825461809989e-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": 7.5710472628998104e-06, + "observation_loss": 7.361594725807663e-06, + "chamfer": 5.980845799058443e-06, + "track": 1.3807488130623824e-06, + "acceleration": 2.0945240919445496e-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": 7.268319222930586e-06, + "observation_loss": 7.187795745267067e-06, + "chamfer": 5.860894361831015e-06, + "track": 1.3269014971228899e-06, + "acceleration": 8.052342792552736e-08, + "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": 7.277308213815559e-06, + "observation_loss": 7.176245162554551e-06, + "chamfer": 5.8547398111841176e-06, + "track": 1.321505465057271e-06, + "acceleration": 1.0106288783617856e-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": 7.372078471235e-06, + "observation_loss": 7.217937763925875e-06, + "chamfer": 5.882544428459369e-06, + "track": 1.335393335466506e-06, + "acceleration": 1.541405225680137e-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": 7.220965017040726e-06, + "observation_loss": 7.101942173903808e-06, + "chamfer": 5.802808118460234e-06, + "track": 1.2991341691304115e-06, + "acceleration": 1.1902304919431117e-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": 6.979521003813716e-06, + "observation_loss": 6.820593171141809e-06, + "chamfer": 5.600519216386601e-06, + "track": 1.2200740684420452e-06, + "acceleration": 1.5892797478045395e-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": 6.850293175375555e-06, + "observation_loss": 6.712076810799772e-06, + "chamfer": 5.511381914402591e-06, + "track": 1.2006950100840186e-06, + "acceleration": 1.3821632194321865e-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": 7.179689873737516e-06, + "observation_loss": 7.0315309130819514e-06, + "chamfer": 5.73254692426417e-06, + "track": 1.2989842161914567e-06, + "acceleration": 1.48158932233855e-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": 7.77151853981195e-06, + "observation_loss": 7.486087724828394e-06, + "chamfer": 6.044974725227803e-06, + "track": 1.4411131132874289e-06, + "acceleration": 2.8543118446577864e-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": 7.975790140335448e-06, + "observation_loss": 7.694289706705604e-06, + "chamfer": 6.187710823724046e-06, + "track": 1.5065792240420706e-06, + "acceleration": 2.8150006414762174e-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": 7.904648555268068e-06, + "observation_loss": 7.721385372860823e-06, + "chamfer": 6.220439900062047e-06, + "track": 1.5009455864856136e-06, + "acceleration": 1.8326358031117707e-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": 7.963451025716495e-06, + "observation_loss": 7.559008736279793e-06, + "chamfer": 6.112379651312949e-06, + "track": 1.4466291986536817e-06, + "acceleration": 4.0444226101499225e-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": 7.5551702138909604e-06, + "observation_loss": 7.343756806221791e-06, + "chamfer": 5.959666850685608e-06, + "track": 1.384089955536183e-06, + "acceleration": 2.1141360662113584e-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": 7.264081432367675e-06, + "observation_loss": 7.200801974249771e-06, + "chamfer": 5.860302735527512e-06, + "track": 1.3404992387222592e-06, + "acceleration": 6.327933732563906e-08, + "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": 7.225799890875351e-06, + "observation_loss": 7.187270057329442e-06, + "chamfer": 5.8564901337376796e-06, + "track": 1.3307796962180873e-06, + "acceleration": 3.852966656836543e-08, + "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": 7.368199021584587e-06, + "observation_loss": 7.306241059268359e-06, + "chamfer": 5.955591404926963e-06, + "track": 1.3506497680282337e-06, + "acceleration": 6.195788415652714e-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": 7.643914614163805e-06, + "observation_loss": 7.566992280771956e-06, + "chamfer": 6.148228294478031e-06, + "track": 1.4187638726070873e-06, + "acceleration": 7.692231207556688e-08, + "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": 7.883577382017393e-06, + "observation_loss": 7.790677045704797e-06, + "chamfer": 6.314219717751257e-06, + "track": 1.4764577827008907e-06, + "acceleration": 9.290072711110042e-08, + "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": 8.289272955153137e-06, + "observation_loss": 8.118390724121127e-06, + "chamfer": 6.548102192027727e-06, + "track": 1.5702888731539133e-06, + "acceleration": 1.7088206050175359e-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": 8.447267646261025e-06, + "observation_loss": 8.383816748391837e-06, + "chamfer": 6.729970664309803e-06, + "track": 1.6538465388293844e-06, + "acceleration": 6.345074154978647e-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": 8.765358870732598e-06, + "observation_loss": 8.41251494421158e-06, + "chamfer": 6.747098268533591e-06, + "track": 1.665416561991151e-06, + "acceleration": 3.5284404020785587e-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": 8.495452675560955e-06, + "observation_loss": 8.423104191024322e-06, + "chamfer": 6.770585514459526e-06, + "track": 1.6525187902516336e-06, + "acceleration": 7.234879007000927e-08, + "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": 8.788461855147034e-06, + "observation_loss": 8.634230653115083e-06, + "chamfer": 6.925021807546727e-06, + "track": 1.7092087318815175e-06, + "acceleration": 1.5423078991716466e-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": 9.260857950721402e-06, + "observation_loss": 9.043222235050052e-06, + "chamfer": 7.208165698102675e-06, + "track": 1.8350566506342147e-06, + "acceleration": 2.1763568724963989e-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": 9.47844728216296e-06, + "observation_loss": 9.349669198854826e-06, + "chamfer": 7.416326752718305e-06, + "track": 1.9333419913891703e-06, + "acceleration": 1.2877849542292097e-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": 9.601899364497513e-06, + "observation_loss": 9.49069180933293e-06, + "chamfer": 7.496477792301448e-06, + "track": 1.994214244405157e-06, + "acceleration": 1.1120758358629246e-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": 9.730440069688484e-06, + "observation_loss": 9.64917489909567e-06, + "chamfer": 7.594174348923843e-06, + "track": 2.055000095424475e-06, + "acceleration": 8.126537665020805e-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": 9.744461749505717e-06, + "observation_loss": 9.651927030063234e-06, + "chamfer": 7.592436759296106e-06, + "track": 2.059490270767128e-06, + "acceleration": 9.253485444560283e-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": 9.684947144705802e-06, + "observation_loss": 9.605979357729666e-06, + "chamfer": 7.55917653805227e-06, + "track": 2.0468028196773957e-06, + "acceleration": 7.896741749391367e-08, + "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": 9.711505299492273e-06, + "observation_loss": 9.525215318717528e-06, + "chamfer": 7.501328582293354e-06, + "track": 2.0238865090504987e-06, + "acceleration": 1.8628968234679633e-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": 9.895632501866203e-06, + "observation_loss": 9.772751582204364e-06, + "chamfer": 7.663781616429333e-06, + "track": 2.1089695110276807e-06, + "acceleration": 1.2288127493320644e-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": 1.0339555956306867e-05, + "observation_loss": 1.0267406651109923e-05, + "chamfer": 7.96989661466796e-06, + "track": 2.297510036441963e-06, + "acceleration": 7.21493265132267e-08, + "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": 1.0923682566499338e-05, + "observation_loss": 1.068131678039208e-05, + "chamfer": 8.24233575258404e-06, + "track": 2.438980800434365e-06, + "acceleration": 2.4236589979409473e-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": 1.0604807357594837e-05, + "observation_loss": 1.0502982149773743e-05, + "chamfer": 8.133585652103648e-06, + "track": 2.36939627029642e-06, + "acceleration": 1.0182550624904252e-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": 1.0279058187734336e-05, + "observation_loss": 1.0139689948118757e-05, + "chamfer": 7.90568083175458e-06, + "track": 2.2340091163641773e-06, + "acceleration": 1.393686943629291e-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": 9.923241123033222e-06, + "observation_loss": 9.877074262476526e-06, + "chamfer": 7.728019227215555e-06, + "track": 2.1490550352609716e-06, + "acceleration": 4.616657278688763e-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": 9.72465659287991e-06, + "observation_loss": 9.660787327447906e-06, + "chamfer": 7.569976332888473e-06, + "track": 2.090811449306784e-06, + "acceleration": 6.386940754055104e-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": 9.740522727952339e-06, + "observation_loss": 9.677006346464623e-06, + "chamfer": 7.566932254121639e-06, + "track": 2.1100738649693085e-06, + "acceleration": 6.351596226750189e-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": 9.824432709137909e-06, + "observation_loss": 9.73531132331118e-06, + "chamfer": 7.597951480420306e-06, + "track": 2.1373602976382244e-06, + "acceleration": 8.912140003758395e-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": 9.787730050447863e-06, + "observation_loss": 9.718123692437075e-06, + "chamfer": 7.58049645810388e-06, + "track": 2.1376274617068702e-06, + "acceleration": 6.960667775501861e-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": 9.846062312135473e-06, + "observation_loss": 9.728340955916792e-06, + "chamfer": 7.561159236502135e-06, + "track": 2.167181264667306e-06, + "acceleration": 1.1772178964974955e-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": 9.960989700630307e-06, + "observation_loss": 9.744327144289855e-06, + "chamfer": 7.562687187601114e-06, + "track": 2.1816399566887412e-06, + "acceleration": 2.1666217264737497e-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": 1.0256884706905112e-05, + "observation_loss": 9.807030437514186e-06, + "chamfer": 7.576500593131641e-06, + "track": 2.230529844382545e-06, + "acceleration": 4.498538146435749e-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": 1.0457264579599723e-05, + "observation_loss": 9.85011320153717e-06, + "chamfer": 7.596590876346454e-06, + "track": 2.253522552564391e-06, + "acceleration": 6.071510938454594e-07, + "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": 1.0089891475217883e-05, + "observation_loss": 9.822768333833665e-06, + "chamfer": 7.570862180728e-06, + "track": 2.251906607853016e-06, + "acceleration": 2.6712291401054244e-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": 9.982328265323304e-06, + "observation_loss": 9.893115930026397e-06, + "chamfer": 7.6253309089224786e-06, + "track": 2.2677850211039186e-06, + "acceleration": 8.921199423639337e-08, + "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": 1.0039455446531065e-05, + "observation_loss": 9.967739970306866e-06, + "chamfer": 7.67520941735711e-06, + "track": 2.2925310076971073e-06, + "acceleration": 7.171585991727625e-08, + "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": 1.0207316336163785e-05, + "observation_loss": 1.0127286259375978e-05, + "chamfer": 7.774354344292078e-06, + "track": 2.3529316877102247e-06, + "acceleration": 8.003022600178156e-08, + "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": 1.0160100828215946e-05, + "observation_loss": 1.0079451385536231e-05, + "chamfer": 7.739672582829371e-06, + "track": 2.339779257454211e-06, + "acceleration": 8.064981216193701e-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": 1.0174077942792792e-05, + "observation_loss": 1.0014038707595319e-05, + "chamfer": 7.67864639783511e-06, + "track": 2.3353925371338846e-06, + "acceleration": 1.6003880887183186e-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": 1.0022657079389319e-05, + "observation_loss": 9.931688509823289e-06, + "chamfer": 7.5854782153328415e-06, + "track": 2.3462105218641227e-06, + "acceleration": 9.096876851799607e-08, + "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": 9.896486517391168e-06, + "observation_loss": 9.821292223932687e-06, + "chamfer": 7.483483386749867e-06, + "track": 2.3378086098091444e-06, + "acceleration": 7.519406608480494e-08, + "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": 9.9031203717459e-06, + "observation_loss": 9.697013410914224e-06, + "chamfer": 7.4034805948031135e-06, + "track": 2.2935330434847856e-06, + "acceleration": 2.0610666240372666e-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": 1.0071543329104315e-05, + "observation_loss": 9.565323125571012e-06, + "chamfer": 7.341466698562726e-06, + "track": 2.2238559722609352e-06, + "acceleration": 5.062200898464653e-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": 9.81169523583958e-06, + "observation_loss": 9.549535207042936e-06, + "chamfer": 7.335160262300633e-06, + "track": 2.214374717368628e-06, + "acceleration": 2.62159630892711e-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": 9.937214599631261e-06, + "observation_loss": 9.600050361768808e-06, + "chamfer": 7.386112429230707e-06, + "track": 2.213937705164426e-06, + "acceleration": 3.3716449365783774e-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": 1.0400101018603891e-05, + "observation_loss": 9.720934940560255e-06, + "chamfer": 7.4717509050969966e-06, + "track": 2.249183808089583e-06, + "acceleration": 6.791660780436359e-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": 1.0087142982229125e-05, + "observation_loss": 9.893414244288579e-06, + "chamfer": 7.581367754028179e-06, + "track": 2.3120464902604e-06, + "acceleration": 1.9372836845832353e-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": 1.0128807844012044e-05, + "observation_loss": 1.0100927283929195e-05, + "chamfer": 7.70732822275022e-06, + "track": 2.3935988338052994e-06, + "acceleration": 2.788093489414223e-08, + "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": 1.0292185834259726e-05, + "observation_loss": 1.0261817806167528e-05, + "chamfer": 7.775473022775259e-06, + "track": 2.4863443286449183e-06, + "acceleration": 3.036834073100181e-08, + "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": 1.052796869771555e-05, + "observation_loss": 1.0436572665639687e-05, + "chamfer": 7.848136192478705e-06, + "track": 2.5884367005346576e-06, + "acceleration": 9.139575496419639e-08, + "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": 1.0905164344876539e-05, + "observation_loss": 1.0762057172541972e-05, + "chamfer": 8.010590136109386e-06, + "track": 2.751466809058911e-06, + "acceleration": 1.43107257599695e-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": 1.122083358495729e-05, + "observation_loss": 1.1089081453974359e-05, + "chamfer": 8.183705176634248e-06, + "track": 2.9053758225927595e-06, + "acceleration": 1.3175201729609398e-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": 1.143762256106129e-05, + "observation_loss": 1.1370331776561216e-05, + "chamfer": 8.33527883514762e-06, + "track": 3.0350524866662454e-06, + "acceleration": 6.729077028921893e-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": 1.1681005162245128e-05, + "observation_loss": 1.1564750820980407e-05, + "chamfer": 8.429020454059355e-06, + "track": 3.1357305942947278e-06, + "acceleration": 1.1625439100271251e-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": 1.1978147085756063e-05, + "observation_loss": 1.1894101589859929e-05, + "chamfer": 8.624891052022576e-06, + "track": 3.269210765211028e-06, + "acceleration": 8.404529694416851e-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": 1.2401884305290878e-05, + "observation_loss": 1.2232882909302134e-05, + "chamfer": 8.806428013485856e-06, + "track": 3.4264548958162777e-06, + "acceleration": 1.690014528321626e-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": 1.2493938811530825e-05, + "observation_loss": 1.2439596503099892e-05, + "chamfer": 8.906771654437762e-06, + "track": 3.532825076035806e-06, + "acceleration": 5.434210592625277e-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": 1.2609644727490377e-05, + "observation_loss": 1.2535593668872025e-05, + "chamfer": 8.947708010964561e-06, + "track": 3.587885430533788e-06, + "acceleration": 7.40509946695056e-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": 1.2683845852734521e-05, + "observation_loss": 1.262018849956803e-05, + "chamfer": 8.99590759217972e-06, + "track": 3.6242811347619863e-06, + "acceleration": 6.365745974790116e-08, + "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": 1.2697509191639256e-05, + "observation_loss": 1.2650483768084086e-05, + "chamfer": 8.992006769403815e-06, + "track": 3.6584765439329203e-06, + "acceleration": 4.702519973420749e-08, + "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": 1.2722492101602256e-05, + "observation_loss": 1.2672348020714708e-05, + "chamfer": 8.980720849649515e-06, + "track": 3.691627398438868e-06, + "acceleration": 5.0143729168894424e-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": 1.2794734175258782e-05, + "observation_loss": 1.2670398973568808e-05, + "chamfer": 8.985810382000636e-06, + "track": 3.6845888189418474e-06, + "acceleration": 1.2433510221399047e-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": 1.2727574357995763e-05, + "observation_loss": 1.2626696843653917e-05, + "chamfer": 8.965144843386952e-06, + "track": 3.6615524550143164e-06, + "acceleration": 1.0087789092949606e-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": 1.2596407941600773e-05, + "observation_loss": 1.2578346286318265e-05, + "chamfer": 8.93016294867266e-06, + "track": 3.6481835650192806e-06, + "acceleration": 1.806130711656806e-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": 1.259424607269466e-05, + "observation_loss": 1.2537668226286769e-05, + "chamfer": 8.894566235539969e-06, + "track": 3.643101535999449e-06, + "acceleration": 5.6578276286245455e-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": 1.2583770512719639e-05, + "observation_loss": 1.2488863831094932e-05, + "chamfer": 8.856420208758209e-06, + "track": 3.6324438497103984e-06, + "acceleration": 9.490682373325399e-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": 1.2464395695133135e-05, + "observation_loss": 1.2379372492432594e-05, + "chamfer": 8.798557246336713e-06, + "track": 3.5808150187222054e-06, + "acceleration": 8.50233234928055e-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": 1.2192351277917624e-05, + "observation_loss": 1.2148481800977606e-05, + "chamfer": 8.674339369463269e-06, + "track": 3.4741424315143377e-06, + "acceleration": 4.386952312529502e-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": 1.0133907082376936e-05, + "chamfer_mean": 6.987088049470458e-06, + "track_mean": 2.0730828624119604e-06, + "acceleration_mean": 1.073736161705252e-06, + "observation_score": 9.060170898559742e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4160500660000253 + }, + "score_arrays_file": "pass_scores/pass_end_0081.npz", + "score_arrays_sha256": "47fc19871b47371f8abb1f0006bd3e0bf60b5fb6d13b04f32327a770d221b739" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0082.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0082.json new file mode 100644 index 0000000000000000000000000000000000000000..130daac0cbefbe91a9a36de5a4305189bfbb3070 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0082.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 7872, + "completed_passes": 82, + "snapshot": "pass_end_0082", + "candidate": true, + "snapshot_arrays_sha256": "4ac164a2a35f5f1776523251a0c592de94eb1619d1cfbe633aef0e219f01d856", + "score": 9.048997019552493e-06, + "score_result": { + "score": 9.048997019552493e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.048011876671808e-06, + 3.4358085940766614e-06, + 4.050866664329078e-06, + 5.2805899031227455e-06, + 6.277583906921791e-06, + 6.742078767274506e-06, + 6.561479494848754e-06, + 6.154241418698803e-06, + 5.916801455896348e-06, + 5.98234737481107e-06, + 6.30842441751156e-06, + 6.584494713024469e-06, + 6.857457719888771e-06, + 7.135095074772835e-06, + 7.376666872005444e-06, + 7.648932296433486e-06, + 7.6117971730127465e-06, + 7.331566393986577e-06, + 7.158542757679243e-06, + 7.14675297786016e-06, + 7.1891117841005325e-06, + 7.0746718847658485e-06, + 6.79483127896674e-06, + 6.686148935841629e-06, + 7.001914127613418e-06, + 7.455504146491876e-06, + 7.665618795726914e-06, + 7.694499799981713e-06, + 7.532889867434278e-06, + 7.32050784790772e-06, + 7.179335625551175e-06, + 7.168681349867256e-06, + 7.2874663601396605e-06, + 7.549095698777819e-06, + 7.773507604724728e-06, + 8.102016181510407e-06, + 8.367922418983653e-06, + 8.396792509302031e-06, + 8.408814210270066e-06, + 8.619665095466189e-06, + 9.027494343172293e-06, + 9.333900379715487e-06, + 9.472811143496074e-06, + 9.632079127186444e-06, + 9.636560207582079e-06, + 9.59049430093728e-06, + 9.51067340793088e-06, + 9.759752174431924e-06, + 1.0255634151690174e-05, + 1.0670227311493363e-05, + 1.0491157809155993e-05, + 1.0129054317076225e-05, + 9.867027984000742e-06, + 9.649187632021494e-06, + 9.66454445006093e-06, + 9.723335097078234e-06, + 9.706429409561679e-06, + 9.715864507597871e-06, + 9.731671525514685e-06, + 9.793418939807452e-06, + 9.83775589702418e-06, + 9.813238648348488e-06, + 9.884640348900575e-06, + 9.960858733393252e-06, + 1.0121686500497162e-05, + 1.0075718819280155e-05, + 1.0011646736529656e-05, + 9.930592568707652e-06, + 9.821137609833386e-06, + 9.696816050563939e-06, + 9.563236744725145e-06, + 9.546664841764141e-06, + 9.596127711120062e-06, + 9.715864507597871e-06, + 9.886229236144572e-06, + 1.0090935575135518e-05, + 1.0250472769257613e-05, + 1.0426276276120916e-05, + 1.0753410606412217e-05, + 1.1084688594564795e-05, + 1.1369013009243645e-05, + 1.1562985491764266e-05, + 1.1890279893123079e-05, + 1.2230584616190754e-05, + 1.2437709301593713e-05, + 1.25345550259226e-05, + 1.2618751497939229e-05, + 1.2648673873627558e-05, + 1.2671344848058652e-05, + 1.2670372598222457e-05, + 1.2626408533833455e-05, + 1.2578770110849291e-05, + 1.2538360351754818e-05, + 1.2489715118135791e-05, + 1.2379236068227328e-05, + 1.2149101166869514e-05 + ] + ], + "episode_mean_losses": [ + 9.048997019552493e-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": 3.048011876671808e-06, + "observation_loss": 3.048011876671808e-06, + "chamfer": 2.5836791337496834e-06, + "track": 4.6433274292212445e-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": 4.9090609536506236e-05, + "observation_loss": 3.4358085940766614e-06, + "chamfer": 2.9044554139545653e-06, + "track": 5.313531232786772e-07, + "acceleration": 4.565480048768222e-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": 2.9676677513634786e-05, + "observation_loss": 4.050866664329078e-06, + "chamfer": 3.4050010526698316e-06, + "track": 6.458655548158276e-07, + "acceleration": 2.562581175880041e-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": 1.4886867575114593e-05, + "observation_loss": 5.2805899031227455e-06, + "chamfer": 4.340995928941993e-06, + "track": 9.395938036504958e-07, + "acceleration": 9.606277671991847e-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": 1.1019759767805226e-05, + "observation_loss": 6.277583906921791e-06, + "chamfer": 5.021947345085209e-06, + "track": 1.2556365618365817e-06, + "acceleration": 4.742175860883435e-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": 8.128712579491548e-06, + "observation_loss": 6.742078767274506e-06, + "chamfer": 5.313476776791504e-06, + "track": 1.4286022178566782e-06, + "acceleration": 1.3866334711565287e-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": 8.386178706132341e-06, + "observation_loss": 6.561479494848754e-06, + "chamfer": 5.175813384994399e-06, + "track": 1.3856659961675177e-06, + "acceleration": 1.8246988702230738e-06, + "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": 7.173050107667223e-06, + "observation_loss": 6.154241418698803e-06, + "chamfer": 4.895937308901921e-06, + "track": 1.2583043371705571e-06, + "acceleration": 1.0188088026552578e-06, + "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": 6.462507826654473e-06, + "observation_loss": 5.916801455896348e-06, + "chamfer": 4.73213412988116e-06, + "track": 1.1846672123283497e-06, + "acceleration": 5.45706200227869e-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": 6.246076736715622e-06, + "observation_loss": 5.98234737481107e-06, + "chamfer": 4.793544576386921e-06, + "track": 1.188802798424149e-06, + "acceleration": 2.6372930506113335e-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": 6.4256259975081775e-06, + "observation_loss": 6.30842441751156e-06, + "chamfer": 5.057114776718663e-06, + "track": 1.2513095271060592e-06, + "acceleration": 1.1720139525550621e-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": 6.681843842670787e-06, + "observation_loss": 6.584494713024469e-06, + "chamfer": 5.282797701511299e-06, + "track": 1.3016970115131699e-06, + "acceleration": 9.734914385717275e-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": 6.880256023578113e-06, + "observation_loss": 6.857457719888771e-06, + "chamfer": 5.524488642549841e-06, + "track": 1.332969191025768e-06, + "acceleration": 2.2798504417664844e-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": 7.220974566735094e-06, + "observation_loss": 7.135095074772835e-06, + "chamfer": 5.7646084314910695e-06, + "track": 1.3704866432817653e-06, + "acceleration": 8.587960564909736e-08, + "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": 7.404803000099491e-06, + "observation_loss": 7.376666872005444e-06, + "chamfer": 5.971036898699822e-06, + "track": 1.4056297459319467e-06, + "acceleration": 2.8136160068470417e-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": 7.719668246863876e-06, + "observation_loss": 7.648932296433486e-06, + "chamfer": 6.192456112330547e-06, + "track": 1.4564762977897772e-06, + "acceleration": 7.073575147842348e-08, + "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": 7.768231625959743e-06, + "observation_loss": 7.6117971730127465e-06, + "chamfer": 6.16615670878673e-06, + "track": 1.445640350539179e-06, + "acceleration": 1.5643428241673973e-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": 7.540617843915243e-06, + "observation_loss": 7.331566393986577e-06, + "chamfer": 5.959364443697268e-06, + "track": 1.3722018366024713e-06, + "acceleration": 2.090514215069561e-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": 7.24066103430232e-06, + "observation_loss": 7.158542757679243e-06, + "chamfer": 5.840079211338889e-06, + "track": 1.3184633189666783e-06, + "acceleration": 8.211804924940225e-08, + "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": 7.249002464959631e-06, + "observation_loss": 7.14675297786016e-06, + "chamfer": 5.83350310989772e-06, + "track": 1.3132497542756028e-06, + "acceleration": 1.0224930946378663e-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": 7.346247912209947e-06, + "observation_loss": 7.1891117841005325e-06, + "chamfer": 5.8618938965082634e-06, + "track": 1.3272181149659446e-06, + "acceleration": 1.571360002117217e-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": 7.195715625130106e-06, + "observation_loss": 7.0746718847658485e-06, + "chamfer": 5.783299911854556e-06, + "track": 1.2913720865981304e-06, + "acceleration": 1.2104368352083839e-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": 6.954534455871908e-06, + "observation_loss": 6.79483127896674e-06, + "chamfer": 5.581698133028112e-06, + "track": 1.213132918564952e-06, + "acceleration": 1.5970310585089464e-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": 6.824257525295252e-06, + "observation_loss": 6.686148935841629e-06, + "chamfer": 5.492353011504747e-06, + "track": 1.1937959243368823e-06, + "acceleration": 1.3810864629704156e-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": 7.150358214857988e-06, + "observation_loss": 7.001914127613418e-06, + "chamfer": 5.710990080842748e-06, + "track": 1.290923819396994e-06, + "acceleration": 1.4844428619653627e-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": 7.739994543953799e-06, + "observation_loss": 7.455504146491876e-06, + "chamfer": 6.02337649979745e-06, + "track": 1.4321277603812632e-06, + "acceleration": 2.844900564014097e-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": 7.947715857881121e-06, + "observation_loss": 7.665618795726914e-06, + "chamfer": 6.167626452224795e-06, + "track": 1.4979921161284437e-06, + "acceleration": 2.820970053107885e-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": 7.878310498199426e-06, + "observation_loss": 7.694499799981713e-06, + "chamfer": 6.201301403052639e-06, + "track": 1.4931979421817232e-06, + "acceleration": 1.8381089716967836e-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": 7.93594244896667e-06, + "observation_loss": 7.532889867434278e-06, + "chamfer": 6.093343472457491e-06, + "track": 1.4395461676031118e-06, + "acceleration": 4.030523541587172e-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": 7.531837127316976e-06, + "observation_loss": 7.32050784790772e-06, + "chamfer": 5.942750249232631e-06, + "track": 1.3777574849882512e-06, + "acceleration": 2.1132910887899925e-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": 7.242105311888736e-06, + "observation_loss": 7.179335625551175e-06, + "chamfer": 5.8444061323825736e-06, + "track": 1.3349294931686018e-06, + "acceleration": 6.27695726507227e-08, + "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": 7.206913323898334e-06, + "observation_loss": 7.168681349867256e-06, + "chamfer": 5.842666269018082e-06, + "track": 1.3260150808491744e-06, + "acceleration": 3.823181771167583e-08, + "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": 7.349242423515534e-06, + "observation_loss": 7.2874663601396605e-06, + "chamfer": 5.9415833675302565e-06, + "track": 1.3458832199830795e-06, + "acceleration": 6.177585731848012e-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": 7.629004358022939e-06, + "observation_loss": 7.549095698777819e-06, + "chamfer": 6.134855539130513e-06, + "track": 1.4142401596473064e-06, + "acceleration": 7.990868056140243e-08, + "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": 7.865134648454841e-06, + "observation_loss": 7.773507604724728e-06, + "chamfer": 6.3014254010340665e-06, + "track": 1.4720817489433102e-06, + "acceleration": 9.16270863626778e-08, + "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": 8.273881576315034e-06, + "observation_loss": 8.102016181510407e-06, + "chamfer": 6.536134151247097e-06, + "track": 1.5658822576369857e-06, + "acceleration": 1.7186570744343044e-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": 8.43073121359339e-06, + "observation_loss": 8.367922418983653e-06, + "chamfer": 6.7187074819230475e-06, + "track": 1.6492144823132548e-06, + "acceleration": 6.280848907636027e-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": 8.75329442351358e-06, + "observation_loss": 8.396792509302031e-06, + "chamfer": 6.736117029504385e-06, + "track": 1.660675252423971e-06, + "acceleration": 3.5650171525958285e-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": 8.484095815219916e-06, + "observation_loss": 8.408814210270066e-06, + "chamfer": 6.760697942809202e-06, + "track": 1.648116267460864e-06, + "acceleration": 7.528184653438075e-08, + "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": 8.772553883318324e-06, + "observation_loss": 8.619665095466189e-06, + "chamfer": 6.915128778928192e-06, + "track": 1.7045367712853476e-06, + "acceleration": 1.528891999669213e-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": 9.243043677997775e-06, + "observation_loss": 9.027494343172293e-06, + "chamfer": 7.197584636742249e-06, + "track": 1.8299098201168817e-06, + "acceleration": 2.1554919271693507e-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": 9.462158232054207e-06, + "observation_loss": 9.333900379715487e-06, + "chamfer": 7.405608812405262e-06, + "track": 1.9282913399365498e-06, + "acceleration": 1.282579233929937e-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": 9.585874977346975e-06, + "observation_loss": 9.472811143496074e-06, + "chamfer": 7.4843837865046225e-06, + "track": 1.9884269022441003e-06, + "acceleration": 1.1306402569744023e-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": 9.712961400509812e-06, + "observation_loss": 9.632079127186444e-06, + "chamfer": 7.582621037727222e-06, + "track": 2.0494583168328973e-06, + "acceleration": 8.08824367481975e-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": 9.727153155836277e-06, + "observation_loss": 9.636560207582079e-06, + "chamfer": 7.582231773994863e-06, + "track": 2.0543288883345667e-06, + "acceleration": 9.059330352556572e-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": 9.668845450505614e-06, + "observation_loss": 9.59049430093728e-06, + "chamfer": 7.548808298452059e-06, + "track": 2.0416860024852213e-06, + "acceleration": 7.835078008611163e-08, + "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": 9.696948836790398e-06, + "observation_loss": 9.51067340793088e-06, + "chamfer": 7.49148739487282e-06, + "track": 2.0191864678054117e-06, + "acceleration": 1.8627548570293584e-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": 9.883053280645981e-06, + "observation_loss": 9.759752174431924e-06, + "chamfer": 7.65511049394263e-06, + "track": 2.1046419078629697e-06, + "acceleration": 1.2330097831636522e-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": 1.0328093594580423e-05, + "observation_loss": 1.0255634151690174e-05, + "chamfer": 7.96216590970289e-06, + "track": 2.293468014613609e-06, + "acceleration": 7.245943578482184e-08, + "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": 1.0913026926573366e-05, + "observation_loss": 1.0670227311493363e-05, + "chamfer": 8.235157110902946e-06, + "track": 2.4350704279640922e-06, + "acceleration": 2.4279992771880643e-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": 1.0594250852591358e-05, + "observation_loss": 1.0491157809155993e-05, + "chamfer": 8.125581189233344e-06, + "track": 2.365576619922649e-06, + "acceleration": 1.0309324949275833e-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": 1.0269494850945193e-05, + "observation_loss": 1.0129054317076225e-05, + "chamfer": 7.898672265582718e-06, + "track": 2.2303822788671823e-06, + "acceleration": 1.4044010754332703e-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": 9.914391739584971e-06, + "observation_loss": 9.867027984000742e-06, + "chamfer": 7.721350812062155e-06, + "track": 2.1456769445649115e-06, + "acceleration": 4.7363720057091996e-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": 9.71366807789309e-06, + "observation_loss": 9.649187632021494e-06, + "chamfer": 7.562371138192248e-06, + "track": 2.0868160390818957e-06, + "acceleration": 6.448043166074058e-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": 9.729154953674879e-06, + "observation_loss": 9.66454445006093e-06, + "chamfer": 7.558961897302652e-06, + "track": 2.1055827801319538e-06, + "acceleration": 6.461022650228188e-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": 9.813044016482309e-06, + "observation_loss": 9.723335097078234e-06, + "chamfer": 7.590393124701222e-06, + "track": 2.1329424271243624e-06, + "acceleration": 8.970921783202357e-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": 9.775129001354799e-06, + "observation_loss": 9.706429409561679e-06, + "chamfer": 7.573203674837714e-06, + "track": 2.1332261894713156e-06, + "acceleration": 6.869933599773503e-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": 9.83391328190919e-06, + "observation_loss": 9.715864507597871e-06, + "chamfer": 7.553409886895679e-06, + "track": 2.1624543933285167e-06, + "acceleration": 1.180484545670879e-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": 9.949847481038887e-06, + "observation_loss": 9.731671525514685e-06, + "chamfer": 7.5548532549873926e-06, + "track": 2.1768180431536166e-06, + "acceleration": 2.1817595552420244e-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": 1.024642915581353e-05, + "observation_loss": 9.793418939807452e-06, + "chamfer": 7.568108230771031e-06, + "track": 2.225311163783772e-06, + "acceleration": 4.530101023192401e-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": 1.0447431122884154e-05, + "observation_loss": 9.83775589702418e-06, + "chamfer": 7.5892153290624265e-06, + "track": 2.248540340588079e-06, + "acceleration": 6.096756806073245e-07, + "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": 1.0079817911901046e-05, + "observation_loss": 9.813238648348488e-06, + "chamfer": 7.5654638749256264e-06, + "track": 2.247775000796537e-06, + "acceleration": 2.6657897933546337e-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": 9.973869964596815e-06, + "observation_loss": 9.884640348900575e-06, + "chamfer": 7.620662927365629e-06, + "track": 2.2639771941612707e-06, + "acceleration": 8.922940253341949e-08, + "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": 1.0034157639893238e-05, + "observation_loss": 9.960858733393252e-06, + "chamfer": 7.67138317314675e-06, + "track": 2.2894753328728257e-06, + "acceleration": 7.329916229537048e-08, + "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": 1.0202556950389408e-05, + "observation_loss": 1.0121686500497162e-05, + "chamfer": 7.771078344376292e-06, + "track": 2.3506083834945457e-06, + "acceleration": 8.087028646741601e-08, + "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": 1.0156883035961073e-05, + "observation_loss": 1.0075718819280155e-05, + "chamfer": 7.73754800320603e-06, + "track": 2.33817058870045e-06, + "acceleration": 8.116386140955001e-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": 1.0172357178817037e-05, + "observation_loss": 1.0011646736529656e-05, + "chamfer": 7.677375833736733e-06, + "track": 2.3342704480455723e-06, + "acceleration": 1.6071071229362133e-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": 1.0022169590229169e-05, + "observation_loss": 9.930592568707652e-06, + "chamfer": 7.584887043776689e-06, + "track": 2.3457055249309633e-06, + "acceleration": 9.157701441608879e-08, + "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": 9.896439223666675e-06, + "observation_loss": 9.821137609833386e-06, + "chamfer": 7.483622539439239e-06, + "track": 2.337515070394147e-06, + "acceleration": 7.530204015893105e-08, + "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": 9.903589671012014e-06, + "observation_loss": 9.696816050563939e-06, + "chamfer": 7.403618383250432e-06, + "track": 2.293197667313507e-06, + "acceleration": 2.0677337886354508e-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": 1.0071712495118845e-05, + "observation_loss": 9.563236744725145e-06, + "chamfer": 7.340207048400771e-06, + "track": 2.2230292415770236e-06, + "acceleration": 5.084757503936999e-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": 9.81069570116233e-06, + "observation_loss": 9.546664841764141e-06, + "chamfer": 7.333280791499419e-06, + "track": 2.213384277638397e-06, + "acceleration": 2.6403080255477107e-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": 9.90324406302534e-06, + "observation_loss": 9.596127711120062e-06, + "chamfer": 7.3833621172525454e-06, + "track": 2.212766048614867e-06, + "acceleration": 3.0711635190527886e-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": 1.0276208740833681e-05, + "observation_loss": 9.715864507597871e-06, + "chamfer": 7.4685231084004045e-06, + "track": 2.247341626571142e-06, + "acceleration": 5.60344631139742e-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": 1.0050792297988664e-05, + "observation_loss": 9.886229236144572e-06, + "chamfer": 7.576941698062001e-06, + "track": 2.3092875380825717e-06, + "acceleration": 1.6456317553092958e-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": 1.0119100807060022e-05, + "observation_loss": 1.0090935575135518e-05, + "chamfer": 7.70118276705034e-06, + "track": 2.3897530354588525e-06, + "acceleration": 2.816541844197218e-08, + "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": 1.0280372407578398e-05, + "observation_loss": 1.0250472769257613e-05, + "chamfer": 7.768694558762945e-06, + "track": 2.4817784378683427e-06, + "acceleration": 2.9899787534759525e-08, + "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": 1.0516694601392373e-05, + "observation_loss": 1.0426276276120916e-05, + "chamfer": 7.842407285352238e-06, + "track": 2.5838689907686785e-06, + "acceleration": 9.041863791026117e-08, + "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": 1.0895902960328385e-05, + "observation_loss": 1.0753410606412217e-05, + "chamfer": 8.005201380001381e-06, + "track": 2.748209681158187e-06, + "acceleration": 1.424921549642022e-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": 1.1213564903300721e-05, + "observation_loss": 1.1084688594564795e-05, + "chamfer": 8.180793884093873e-06, + "track": 2.9038947104709223e-06, + "acceleration": 1.2887637979019928e-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": 1.1437969078542665e-05, + "observation_loss": 1.1369013009243645e-05, + "chamfer": 8.334188351000194e-06, + "track": 3.0348246582434513e-06, + "acceleration": 6.895620430213967e-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": 1.1678893315547612e-05, + "observation_loss": 1.1562985491764266e-05, + "chamfer": 8.427830834989436e-06, + "track": 3.1351544294011546e-06, + "acceleration": 1.159081293167219e-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": 1.1977430403931066e-05, + "observation_loss": 1.1890279893123079e-05, + "chamfer": 8.622581844974775e-06, + "track": 3.2676982755219797e-06, + "acceleration": 8.715096555533819e-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": 1.2403668733895756e-05, + "observation_loss": 1.2230584616190754e-05, + "chamfer": 8.805369361652993e-06, + "track": 3.4252154819114367e-06, + "acceleration": 1.730841745484213e-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": 1.2492257155827247e-05, + "observation_loss": 1.2437709301593713e-05, + "chamfer": 8.905892173061147e-06, + "track": 3.5318166737852152e-06, + "acceleration": 5.4547914629665684e-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": 1.2609303666977212e-05, + "observation_loss": 1.25345550259226e-05, + "chamfer": 8.94748154678382e-06, + "track": 3.587073251765105e-06, + "acceleration": 7.47487334251673e-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": 1.2682531632890459e-05, + "observation_loss": 1.2618751497939229e-05, + "chamfer": 8.995603820949327e-06, + "track": 3.6231481317372527e-06, + "acceleration": 6.378045469546123e-08, + "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": 1.269570020667743e-05, + "observation_loss": 1.2648673873627558e-05, + "chamfer": 8.99139376997482e-06, + "track": 3.6572803310264135e-06, + "acceleration": 4.702636147158046e-08, + "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": 1.2721982784569263e-05, + "observation_loss": 1.2671344848058652e-05, + "chamfer": 8.980575330497231e-06, + "track": 3.6907697449350962e-06, + "acceleration": 5.063783348191464e-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": 1.2795960174116772e-05, + "observation_loss": 1.2670372598222457e-05, + "chamfer": 8.986399734567385e-06, + "track": 3.6839728636550717e-06, + "acceleration": 1.2558733430978464e-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": 1.272852659894852e-05, + "observation_loss": 1.2626408533833455e-05, + "chamfer": 8.965499546320643e-06, + "track": 3.6609092148864875e-06, + "acceleration": 1.0211771694912386e-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": 1.2596469787240494e-05, + "observation_loss": 1.2578770110849291e-05, + "chamfer": 8.930812327889726e-06, + "track": 3.6479577829595655e-06, + "acceleration": 1.770007784784866e-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": 1.2594033250934444e-05, + "observation_loss": 1.2538360351754818e-05, + "chamfer": 8.895191967894789e-06, + "track": 3.6431686112337047e-06, + "acceleration": 5.5672927601335687e-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": 1.2585026524902787e-05, + "observation_loss": 1.2489715118135791e-05, + "chamfer": 8.85711870068917e-06, + "track": 3.6325961900729453e-06, + "acceleration": 9.531161282438916e-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": 1.2465508916648105e-05, + "observation_loss": 1.2379236068227328e-05, + "chamfer": 8.798272574495059e-06, + "track": 3.5809637211059453e-06, + "acceleration": 8.627308289987923e-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": 1.2193467227916699e-05, + "observation_loss": 1.2149101166869514e-05, + "chamfer": 8.674445780343376e-06, + "track": 3.4746553865261376e-06, + "acceleration": 4.436597222934324e-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": 1.0119883143033803e-05, + "chamfer_mean": 6.979428320619263e-06, + "track_mean": 2.0695687078150136e-06, + "acceleration_mean": 1.0708861308827977e-06, + "observation_score": 9.048997019552493e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4192913650003902 + }, + "score_arrays_file": "pass_scores/pass_end_0082.npz", + "score_arrays_sha256": "0937137cb67501cffaa30e8b956de74fc340a568eac40a166148460a6e5ada7b" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0083.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0083.json new file mode 100644 index 0000000000000000000000000000000000000000..d85e0d0de222c020687705cd6610247c8ab2b55f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0083.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 7968, + "completed_passes": 83, + "snapshot": "pass_end_0083", + "candidate": true, + "snapshot_arrays_sha256": "8bada2b43cecfaf741aa19d7df79c42944d7e52fc63cc78d1a70d8c791caade5", + "score": 9.038982883661598e-06, + "score_result": { + "score": 9.038982883661598e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0452101782429963e-06, + 3.434838390603545e-06, + 4.045808509545168e-06, + 5.269580469757784e-06, + 6.2642320699524134e-06, + 6.732022484357003e-06, + 6.5579633883317e-06, + 6.152817604743177e-06, + 5.914725534239551e-06, + 5.977311502647353e-06, + 6.302988367679063e-06, + 6.580130957445363e-06, + 6.852278147562174e-06, + 7.127017852326389e-06, + 7.361323696386535e-06, + 7.627123068232322e-06, + 7.585300863865996e-06, + 7.3024907578655984e-06, + 7.12976270733634e-06, + 7.1175927587319165e-06, + 7.160340828704648e-06, + 7.047318831610028e-06, + 6.769025276298635e-06, + 6.659635801042896e-06, + 6.972100891289301e-06, + 7.424543127854122e-06, + 7.636414920852985e-06, + 7.666818419238552e-06, + 7.5069901868118905e-06, + 7.2971834015334025e-06, + 7.157380423450377e-06, + 7.150409601308638e-06, + 7.2666707637836225e-06, + 7.531242772529367e-06, + 7.754550097160973e-06, + 8.085628905973863e-06, + 8.353389603144024e-06, + 8.38315645523835e-06, + 8.396269549848512e-06, + 8.607204108557198e-06, + 9.014368515636306e-06, + 9.320100616605487e-06, + 9.45841475186171e-06, + 9.618781405151822e-06, + 9.625146049074829e-06, + 9.579121979186311e-06, + 9.500368832959794e-06, + 9.75097827904392e-06, + 1.0248220860376023e-05, + 1.0663452485459857e-05, + 1.0484205631655641e-05, + 1.0122616004082374e-05, + 9.860097634373233e-06, + 9.641415090300143e-06, + 9.654924724600278e-06, + 9.713227882457431e-06, + 9.69637585512828e-06, + 9.70498331298586e-06, + 9.72086036199471e-06, + 9.781790140550584e-06, + 9.827308531384915e-06, + 9.805517038330436e-06, + 9.879621757136192e-06, + 9.958147529687267e-06, + 1.0120555089088157e-05, + 1.0076365470013116e-05, + 1.0014114195655566e-05, + 9.933917681337334e-06, + 9.825409506447613e-06, + 9.700666851131245e-06, + 9.565379514242522e-06, + 9.547708941681776e-06, + 9.595273695595097e-06, + 9.714125553728081e-06, + 9.88102601695573e-06, + 1.008304207061883e-05, + 1.0241117706755176e-05, + 1.0417143130325712e-05, + 1.0745842700998764e-05, + 1.1081220691266935e-05, + 1.1367480510671157e-05, + 1.1560039638425224e-05, + 1.188612986879889e-05, + 1.22278897833894e-05, + 1.243565566255711e-05, + 1.253373920917511e-05, + 1.2617409083759412e-05, + 1.2646830327867065e-05, + 1.2669921488850378e-05, + 1.2669316674873699e-05, + 1.2624663213500753e-05, + 1.2575756954902317e-05, + 1.2535967471194454e-05, + 1.2487560525187291e-05, + 1.2377029634080827e-05, + 1.2147219422331546e-05 + ] + ], + "episode_mean_losses": [ + 9.038982883661598e-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": 3.0452101782429963e-06, + "observation_loss": 3.0452101782429963e-06, + "chamfer": 2.5813487809500657e-06, + "track": 4.638612836060929e-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": 4.900167550658807e-05, + "observation_loss": 3.434838390603545e-06, + "chamfer": 2.9036652904324e-06, + "track": 5.31173100171145e-07, + "acceleration": 4.556683779810555e-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": 2.9643346351804212e-05, + "observation_loss": 4.045808509545168e-06, + "chamfer": 3.4010042782028904e-06, + "track": 6.448043450291152e-07, + "acceleration": 2.5597537387511693e-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": 1.485754910390824e-05, + "observation_loss": 5.269580469757784e-06, + "chamfer": 4.332925982453162e-06, + "track": 9.366547146782978e-07, + "acceleration": 9.587968634150457e-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": 1.0981450031977147e-05, + "observation_loss": 6.2642320699524134e-06, + "chamfer": 5.013199825043557e-06, + "track": 1.2510320175351808e-06, + "acceleration": 4.7172179620247334e-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": 8.115337550407276e-06, + "observation_loss": 6.732022484357003e-06, + "chamfer": 5.307190349412849e-06, + "track": 1.4248319075704785e-06, + "acceleration": 1.3833154071107856e-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": 8.39621770865051e-06, + "observation_loss": 6.5579633883317e-06, + "chamfer": 5.1735796660068445e-06, + "track": 1.3843838360116933e-06, + "acceleration": 1.8382544340056484e-06, + "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": 7.188198196672602e-06, + "observation_loss": 6.152817604743177e-06, + "chamfer": 4.894866378890583e-06, + "track": 1.257951112165756e-06, + "acceleration": 1.0353807056162623e-06, + "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": 6.469373602158157e-06, + "observation_loss": 5.914725534239551e-06, + "chamfer": 4.730643013317604e-06, + "track": 1.1840824072351097e-06, + "acceleration": 5.546481816054438e-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": 6.241992650757311e-06, + "observation_loss": 5.977311502647353e-06, + "chamfer": 4.7900261961331125e-06, + "track": 1.187285192827403e-06, + "acceleration": 2.646810060014104e-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": 6.422963906516088e-06, + "observation_loss": 6.302988367679063e-06, + "chamfer": 5.053365384810604e-06, + "track": 1.2496230965552968e-06, + "acceleration": 1.1997573778899095e-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": 6.6789584707294125e-06, + "observation_loss": 6.580130957445363e-06, + "chamfer": 5.279624929244164e-06, + "track": 1.3005059145143605e-06, + "acceleration": 9.882747065148578e-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": 6.874921382404864e-06, + "observation_loss": 6.852278147562174e-06, + "chamfer": 5.520541435544146e-06, + "track": 1.331736712018028e-06, + "acceleration": 2.264343379465572e-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": 7.214186098281061e-06, + "observation_loss": 7.127017852326389e-06, + "chamfer": 5.758412498835241e-06, + "track": 1.3686052398043103e-06, + "acceleration": 8.716806831898793e-08, + "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": 7.389596248685848e-06, + "observation_loss": 7.361323696386535e-06, + "chamfer": 5.959657300991239e-06, + "track": 1.4016665090821334e-06, + "acceleration": 2.8272733487710866e-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": 7.696071406826377e-06, + "observation_loss": 7.627123068232322e-06, + "chamfer": 6.1766113503836095e-06, + "track": 1.4505116041618749e-06, + "acceleration": 6.894840254290102e-08, + "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": 7.739423381281085e-06, + "observation_loss": 7.585300863865996e-06, + "chamfer": 6.147106432763394e-06, + "track": 1.4381945447894395e-06, + "acceleration": 1.54122943740731e-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": 7.511338026233716e-06, + "observation_loss": 7.3024907578655984e-06, + "chamfer": 5.9385151871538255e-06, + "track": 1.3639756843986106e-06, + "acceleration": 2.0884728257897223e-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": 7.214250672404887e-06, + "observation_loss": 7.12976270733634e-06, + "chamfer": 5.8195173551212065e-06, + "track": 1.3102454659019713e-06, + "acceleration": 8.448810717709421e-08, + "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": 7.222017757158028e-06, + "observation_loss": 7.1175927587319165e-06, + "chamfer": 5.812458766740747e-06, + "track": 1.3051337646174943e-06, + "acceleration": 1.0442511211294914e-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": 7.3206106208090205e-06, + "observation_loss": 7.160340828704648e-06, + "chamfer": 5.8412101680005435e-06, + "track": 1.3191306607041042e-06, + "acceleration": 1.6026999105633877e-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": 7.1705071604810655e-06, + "observation_loss": 7.047318831610028e-06, + "chamfer": 5.76358797843568e-06, + "track": 1.2837308531743474e-06, + "acceleration": 1.2318848519043968e-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": 6.928712991793873e-06, + "observation_loss": 6.769025276298635e-06, + "chamfer": 5.562781552725937e-06, + "track": 1.2062436098858598e-06, + "acceleration": 1.5968790023634938e-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": 6.797513378842268e-06, + "observation_loss": 6.659635801042896e-06, + "chamfer": 5.472750672197435e-06, + "track": 1.186885015158623e-06, + "acceleration": 1.3787756358851766e-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": 7.120245754776988e-06, + "observation_loss": 6.972100891289301e-06, + "chamfer": 5.689231329597533e-06, + "track": 1.282869789065444e-06, + "acceleration": 1.481449061202511e-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": 7.708239536441397e-06, + "observation_loss": 7.424543127854122e-06, + "chamfer": 6.001419478707248e-06, + "track": 1.4231235354600358e-06, + "acceleration": 2.836963233221468e-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": 7.917876246210653e-06, + "observation_loss": 7.636414920852985e-06, + "chamfer": 6.147126896394184e-06, + "track": 1.4892882518324768e-06, + "acceleration": 2.81461581153053e-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": 7.85128850111505e-06, + "observation_loss": 7.666818419238552e-06, + "chamfer": 6.181509434100008e-06, + "track": 1.4853086440780316e-06, + "acceleration": 1.8447032346102787e-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": 7.910327440185938e-06, + "observation_loss": 7.5069901868118905e-06, + "chamfer": 6.0744719121430535e-06, + "track": 1.432518274668837e-06, + "acceleration": 4.0333733863917587e-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": 7.5090570135216694e-06, + "observation_loss": 7.2971834015334025e-06, + "chamfer": 5.925693585595582e-06, + "track": 1.371489702250983e-06, + "acceleration": 2.1187354093399335e-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": 7.219714007078437e-06, + "observation_loss": 7.157380423450377e-06, + "chamfer": 5.828073881275486e-06, + "track": 1.329306428488053e-06, + "acceleration": 6.233337757066693e-08, + "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": 7.1890117396833375e-06, + "observation_loss": 7.150409601308638e-06, + "chamfer": 5.828980192745803e-06, + "track": 1.3214292948759976e-06, + "acceleration": 3.860221653440021e-08, + "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": 7.3299870564369485e-06, + "observation_loss": 7.2666707637836225e-06, + "chamfer": 5.926078301854432e-06, + "track": 1.3405926893028663e-06, + "acceleration": 6.331632818046273e-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": 7.614186415594304e-06, + "observation_loss": 7.531242772529367e-06, + "chamfer": 6.12150597589789e-06, + "track": 1.4097369103183155e-06, + "acceleration": 8.294382070062056e-08, + "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": 7.844134415790904e-06, + "observation_loss": 7.754550097160973e-06, + "chamfer": 6.287193173193373e-06, + "track": 1.4673569239675999e-06, + "acceleration": 8.95839420422817e-08, + "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": 8.257883564510848e-06, + "observation_loss": 8.085628905973863e-06, + "chamfer": 6.52407516099629e-06, + "track": 1.561553744977573e-06, + "acceleration": 1.7225438853074593e-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": 8.415195225097705e-06, + "observation_loss": 8.353389603144024e-06, + "chamfer": 6.708396995236399e-06, + "track": 1.644992948968138e-06, + "acceleration": 6.180594880333956e-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": 8.736700692679733e-06, + "observation_loss": 8.38315645523835e-06, + "chamfer": 6.726455467287451e-06, + "track": 1.6567014426982496e-06, + "acceleration": 3.5354463534531533e-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": 8.470740795019083e-06, + "observation_loss": 8.396269549848512e-06, + "chamfer": 6.75202227284899e-06, + "track": 1.6442470496258466e-06, + "acceleration": 7.447127359228034e-08, + "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": 8.763144251133781e-06, + "observation_loss": 8.607204108557198e-06, + "chamfer": 6.906626822456019e-06, + "track": 1.7005772861011792e-06, + "acceleration": 1.5594034152854874e-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": 9.232828233507462e-06, + "observation_loss": 9.014368515636306e-06, + "chamfer": 7.188733434304595e-06, + "track": 1.8256354223922244e-06, + "acceleration": 2.1846014419679705e-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": 9.450272955291439e-06, + "observation_loss": 9.320100616605487e-06, + "chamfer": 7.3962910391855985e-06, + "track": 1.9238098047935637e-06, + "acceleration": 1.3017245237278985e-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": 9.574200703355018e-06, + "observation_loss": 9.45841475186171e-06, + "chamfer": 7.474528501916211e-06, + "track": 1.9838864773191744e-06, + "acceleration": 1.1578603675843624e-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": 9.699320798972622e-06, + "observation_loss": 9.618781405151822e-06, + "chamfer": 7.573579750896897e-06, + "track": 2.0452016542549245e-06, + "acceleration": 8.05391735525518e-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": 9.715790838527028e-06, + "observation_loss": 9.625146049074829e-06, + "chamfer": 7.574632491014199e-06, + "track": 2.0505137854343047e-06, + "acceleration": 9.064478234677154e-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": 9.658358976594172e-06, + "observation_loss": 9.579121979186311e-06, + "chamfer": 7.541202194261132e-06, + "track": 2.0379197849251796e-06, + "acceleration": 7.923740241722044e-08, + "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": 9.687944839242846e-06, + "observation_loss": 9.500368832959794e-06, + "chamfer": 7.484545676561538e-06, + "track": 2.015823383771931e-06, + "acceleration": 1.8757616260245413e-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": 9.874857823888306e-06, + "observation_loss": 9.75097827904392e-06, + "chamfer": 7.649253348063212e-06, + "track": 2.1017244762333576e-06, + "acceleration": 1.238796016878041e-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": 1.032112049870193e-05, + "observation_loss": 1.0248220860376023e-05, + "chamfer": 7.957289199111983e-06, + "track": 2.2909321160113905e-06, + "acceleration": 7.28997875398818e-08, + "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": 1.0906455827353057e-05, + "observation_loss": 1.0663452485459857e-05, + "chamfer": 8.230740604631137e-06, + "track": 2.432711653455044e-06, + "acceleration": 2.4300362611029414e-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": 1.0588621989882085e-05, + "observation_loss": 1.0484205631655641e-05, + "chamfer": 8.1208390838583e-06, + "track": 2.3633667751710163e-06, + "acceleration": 1.0441639375358136e-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": 1.0263343028782401e-05, + "observation_loss": 1.0122616004082374e-05, + "chamfer": 7.894453119661193e-06, + "track": 2.2281626570475055e-06, + "acceleration": 1.4072661258524022e-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": 9.906690138450358e-06, + "observation_loss": 9.860097634373233e-06, + "chamfer": 7.716876098129433e-06, + "track": 2.1432215362438e-06, + "acceleration": 4.659266394924089e-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": 9.704976037028246e-06, + "observation_loss": 9.641415090300143e-06, + "chamfer": 7.557341632491443e-06, + "track": 2.0840734578086995e-06, + "acceleration": 6.356081172498307e-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": 9.719376066641416e-06, + "observation_loss": 9.654924724600278e-06, + "chamfer": 7.552884198958054e-06, + "track": 2.1020405256422237e-06, + "acceleration": 6.4451469938831e-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": 9.80363165581366e-06, + "observation_loss": 9.713227882457431e-06, + "chamfer": 7.584076683997409e-06, + "track": 2.129151198460022e-06, + "acceleration": 9.040406467875073e-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": 9.764511560206302e-06, + "observation_loss": 9.69637585512828e-06, + "chamfer": 7.56697409087792e-06, + "track": 2.1294017642503604e-06, + "acceleration": 6.813611719280743e-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": 9.823362233873922e-06, + "observation_loss": 9.70498331298586e-06, + "chamfer": 7.5466909947863314e-06, + "track": 2.158292090825853e-06, + "acceleration": 1.1837924773772102e-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": 9.940108611772303e-06, + "observation_loss": 9.72086036199471e-06, + "chamfer": 7.548233952547889e-06, + "track": 2.172626182073145e-06, + "acceleration": 2.1924839188613987e-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": 1.0238610229862388e-05, + "observation_loss": 9.781790140550584e-06, + "chamfer": 7.560896392533323e-06, + "track": 2.2208935206435854e-06, + "acceleration": 4.568204587940272e-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": 1.044031887431629e-05, + "observation_loss": 9.827308531384915e-06, + "chamfer": 7.5830312198377214e-06, + "track": 2.2442777662945446e-06, + "acceleration": 6.130105703050504e-07, + "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": 1.0072571058117319e-05, + "observation_loss": 9.805517038330436e-06, + "chamfer": 7.561200163763715e-06, + "track": 2.24431641981937e-06, + "acceleration": 2.67054275582268e-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": 9.970218343369197e-06, + "observation_loss": 9.879621757136192e-06, + "chamfer": 7.618239123985404e-06, + "track": 2.2613824057771126e-06, + "acceleration": 9.059672123612472e-08, + "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": 1.0032837963080965e-05, + "observation_loss": 9.958147529687267e-06, + "chamfer": 7.670368177059572e-06, + "track": 2.28777958000137e-06, + "acceleration": 7.469042628827083e-08, + "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": 1.0202741577813867e-05, + "observation_loss": 1.0120555089088157e-05, + "chamfer": 7.77089735493064e-06, + "track": 2.349657506783842e-06, + "acceleration": 8.218674452109553e-08, + "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": 1.0157586984860245e-05, + "observation_loss": 1.0076365470013116e-05, + "chamfer": 7.73842566559324e-06, + "track": 2.337939804419875e-06, + "acceleration": 8.122174932623238e-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": 1.0175833267567214e-05, + "observation_loss": 1.0014114195655566e-05, + "chamfer": 7.679454938624986e-06, + "track": 2.3346590296569047e-06, + "acceleration": 1.617190577007932e-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": 1.0026091331383213e-05, + "observation_loss": 9.933917681337334e-06, + "chamfer": 7.587426352984039e-06, + "track": 2.3464915557269705e-06, + "acceleration": 9.217323793109244e-08, + "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": 9.901265912048984e-06, + "observation_loss": 9.825409506447613e-06, + "chamfer": 7.486801223421935e-06, + "track": 2.3386078282783274e-06, + "acceleration": 7.585613559513149e-08, + "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": 9.908788342727348e-06, + "observation_loss": 9.700666851131245e-06, + "chamfer": 7.4065487751795445e-06, + "track": 2.2941178485780256e-06, + "acceleration": 2.0812163370464987e-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": 1.007678838504944e-05, + "observation_loss": 9.565379514242522e-06, + "chamfer": 7.341852779063629e-06, + "track": 2.223526507805218e-06, + "acceleration": 5.114092687108496e-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": 9.81389621301787e-06, + "observation_loss": 9.547708941681776e-06, + "chamfer": 7.334095244004857e-06, + "track": 2.213613925050595e-06, + "acceleration": 2.661872144926747e-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": 9.870594112726394e-06, + "observation_loss": 9.595273695595097e-06, + "chamfer": 7.382727289950708e-06, + "track": 2.2125461782707134e-06, + "acceleration": 2.75320132914203e-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": 1.0151323294849135e-05, + "observation_loss": 9.714125553728081e-06, + "chamfer": 7.467406248906627e-06, + "track": 2.246719304821454e-06, + "acceleration": 4.371974853256688e-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": 1.0015427506004926e-05, + "observation_loss": 9.88102601695573e-06, + "chamfer": 7.573805305582937e-06, + "track": 2.3072207113727927e-06, + "acceleration": 1.3440151747090567e-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": 1.0111996743944474e-05, + "observation_loss": 1.008304207061883e-05, + "chamfer": 7.69636517361505e-06, + "track": 2.386677351751132e-06, + "acceleration": 2.895450634810004e-08, + "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": 1.0271272003592458e-05, + "observation_loss": 1.0241117706755176e-05, + "chamfer": 7.7631821113755e-06, + "track": 2.4779351406323258e-06, + "acceleration": 3.01545881598031e-08, + "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": 1.050822811521357e-05, + "observation_loss": 1.0417143130325712e-05, + "chamfer": 7.837368684704416e-06, + "track": 2.579774672994972e-06, + "acceleration": 9.108481435760041e-08, + "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": 1.0889825716731139e-05, + "observation_loss": 1.0745842700998764e-05, + "chamfer": 8.000577508937567e-06, + "track": 2.7452649646875216e-06, + "acceleration": 1.4398257519587787e-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": 1.121271270676516e-05, + "observation_loss": 1.1081220691266935e-05, + "chamfer": 8.178448297258e-06, + "track": 2.9027723940089345e-06, + "acceleration": 1.314920723416435e-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": 1.1438839464972261e-05, + "observation_loss": 1.1367480510671157e-05, + "chamfer": 8.332882316608448e-06, + "track": 3.0345984214363853e-06, + "acceleration": 7.13588121925568e-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": 1.167474238172872e-05, + "observation_loss": 1.1560039638425224e-05, + "chamfer": 8.425738997175358e-06, + "track": 3.1343006412498653e-06, + "acceleration": 1.1470311989114634e-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": 1.1975464076385833e-05, + "observation_loss": 1.188612986879889e-05, + "chamfer": 8.620175321993884e-06, + "track": 3.265954774178681e-06, + "acceleration": 8.933439943348276e-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": 1.240552774106618e-05, + "observation_loss": 1.22278897833894e-05, + "chamfer": 8.803958735370543e-06, + "track": 3.4239312753925333e-06, + "acceleration": 1.7763814241789078e-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": 1.2491291272453964e-05, + "observation_loss": 1.243565566255711e-05, + "chamfer": 8.904962669475935e-06, + "track": 3.5306927657074993e-06, + "acceleration": 5.563536831232341e-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": 1.260903081856668e-05, + "observation_loss": 1.253373920917511e-05, + "chamfer": 8.947383321356028e-06, + "track": 3.5863563425664324e-06, + "acceleration": 7.529202150635683e-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": 1.2681774023803882e-05, + "observation_loss": 1.2617409083759412e-05, + "chamfer": 8.995367352326866e-06, + "track": 3.622041731432546e-06, + "acceleration": 6.436489030647863e-08, + "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": 1.2694047654804308e-05, + "observation_loss": 1.2646830327867065e-05, + "chamfer": 8.990744390757754e-06, + "track": 3.6560857097356347e-06, + "acceleration": 4.7216968113161784e-08, + "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": 1.2721142411464825e-05, + "observation_loss": 1.2669921488850378e-05, + "chamfer": 8.980145139503293e-06, + "track": 3.6897761219734093e-06, + "acceleration": 5.122084445474684e-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": 1.2795662769349292e-05, + "observation_loss": 1.2669316674873699e-05, + "chamfer": 8.986339707917068e-06, + "track": 3.6829769669566303e-06, + "acceleration": 1.2634620816243114e-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": 1.2728012734442018e-05, + "observation_loss": 1.2624663213500753e-05, + "chamfer": 8.965101187641267e-06, + "track": 3.6595615711121354e-06, + "acceleration": 1.0334932909472627e-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": 1.259368218597956e-05, + "observation_loss": 1.2575756954902317e-05, + "chamfer": 8.929351679398678e-06, + "track": 3.6464055028773146e-06, + "acceleration": 1.792539094935819e-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": 1.2591835911734961e-05, + "observation_loss": 1.2535967471194454e-05, + "chamfer": 8.894056918506976e-06, + "track": 3.6419105526874773e-06, + "acceleration": 5.586886331343521e-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": 1.2582701856445055e-05, + "observation_loss": 1.2487560525187291e-05, + "chamfer": 8.85602094058413e-06, + "track": 3.631539811976836e-06, + "acceleration": 9.514174337255099e-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": 1.2463009625207633e-05, + "observation_loss": 1.2377029634080827e-05, + "chamfer": 8.796835572866257e-06, + "track": 3.58019406121457e-06, + "acceleration": 8.598033218731871e-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": 1.2191711903142277e-05, + "observation_loss": 1.2147219422331546e-05, + "chamfer": 8.673069714859594e-06, + "track": 3.474149707471952e-06, + "acceleration": 4.449239199288968e-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": 1.010731597261838e-05, + "chamfer_mean": 6.972540309864901e-06, + "track_mean": 2.0664425690597454e-06, + "acceleration_mean": 1.0683331665613711e-06, + "observation_score": 9.038982883661598e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4301147980004316 + }, + "score_arrays_file": "pass_scores/pass_end_0083.npz", + "score_arrays_sha256": "56618401994d20d7878a8f9ae3710b4a0d1b7cffd2c9c32579a7223d5e080ae8" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0084.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0084.json new file mode 100644 index 0000000000000000000000000000000000000000..93d7b42c20a6b81135d402eeb11e99ff95224795 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0084.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8064, + "completed_passes": 84, + "snapshot": "pass_end_0084", + "candidate": true, + "snapshot_arrays_sha256": "35b210682040baaeac31fa662289f0247f6e67dd4fc188685c28ddded7f7d197", + "score": 9.030503117439062e-06, + "score_result": { + "score": 9.030503117439062e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0424189390032552e-06, + 3.433879555814201e-06, + 4.040874955535401e-06, + 5.258569217403419e-06, + 6.2509338931704406e-06, + 6.721698809997179e-06, + 6.554103492817376e-06, + 6.151193247205811e-06, + 5.912153028475586e-06, + 5.970850907033309e-06, + 6.296440460573649e-06, + 6.575322004209738e-06, + 6.84674614603864e-06, + 7.118660505511798e-06, + 7.346548045461532e-06, + 7.605611699545989e-06, + 7.558871857327176e-06, + 7.273859409906436e-06, + 7.101482879079413e-06, + 7.089696737239137e-06, + 7.133524377422873e-06, + 7.022596946626436e-06, + 6.745909104211023e-06, + 6.63525042909896e-06, + 6.94451682647923e-06, + 7.396442470053444e-06, + 7.610534339619335e-06, + 7.642775926797185e-06, + 7.483784884243505e-06, + 7.275653842953034e-06, + 7.1379322434950154e-06, + 7.133558483474189e-06, + 7.249254849739373e-06, + 7.514246135542635e-06, + 7.73727151681669e-06, + 8.070609510468785e-06, + 8.340604836121202e-06, + 8.370852810912766e-06, + 8.384360626223497e-06, + 8.594469363742974e-06, + 9.002184015116654e-06, + 9.308439075539354e-06, + 9.446665899304207e-06, + 9.607788342691492e-06, + 9.615797353035305e-06, + 9.569823305355385e-06, + 9.492140634392854e-06, + 9.744195267558098e-06, + 1.0242853022646159e-05, + 1.0658895007509273e-05, + 1.047949626808986e-05, + 1.011835593089927e-05, + 9.85662336461246e-06, + 9.636098184273578e-06, + 9.649053026805632e-06, + 9.707538993097842e-06, + 9.690348633739632e-06, + 9.697933819552418e-06, + 9.713602594274562e-06, + 9.7740521596279e-06, + 9.820605555432849e-06, + 9.801567102840636e-06, + 9.879782737698406e-06, + 9.960972420230974e-06, + 1.0125257176696323e-05, + 1.0082931112265214e-05, + 1.0021846719610039e-05, + 9.942325050360523e-06, + 9.833827789407223e-06, + 9.708137440611608e-06, + 9.570017937221564e-06, + 9.550192771712318e-06, + 9.594400580681395e-06, + 9.711702659842558e-06, + 9.875509022094775e-06, + 1.0075399586639833e-05, + 1.0231462511001155e-05, + 1.0407871741335839e-05, + 1.0738132914411835e-05, + 1.107832940761e-05, + 1.1365717909939121e-05, + 1.1557434845599346e-05, + 1.1881833415827714e-05, + 1.2224738384247757e-05, + 1.2433431038516574e-05, + 1.2531916581792757e-05, + 1.2615537343663163e-05, + 1.264450929738814e-05, + 1.2668315321207047e-05, + 1.266779872821644e-05, + 1.262357909581624e-05, + 1.2573899766721297e-05, + 1.2534875168057624e-05, + 1.2486114428611472e-05, + 1.2375960977806244e-05, + 1.2146414519520476e-05 + ] + ], + "episode_mean_losses": [ + 9.030503117439062e-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": 3.0424189390032552e-06, + "observation_loss": 3.0424189390032552e-06, + "chamfer": 2.579024112492334e-06, + "track": 4.633948265109211e-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": 4.890757190878503e-05, + "observation_loss": 3.433879555814201e-06, + "chamfer": 2.9028863082203316e-06, + "track": 5.309933044372883e-07, + "acceleration": 4.5473690988728777e-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": 2.960588608402759e-05, + "observation_loss": 4.040874955535401e-06, + "chamfer": 3.3971102766372496e-06, + "track": 6.437647925849888e-07, + "acceleration": 2.5565010218997486e-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": 1.4824505342403427e-05, + "observation_loss": 5.258569217403419e-06, + "chamfer": 4.3248487600067165e-06, + "track": 9.33720400553284e-07, + "acceleration": 9.565936125000007e-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": 1.0941893378912937e-05, + "observation_loss": 6.2509338931704406e-06, + "chamfer": 5.004493232263485e-06, + "track": 1.2464406609069556e-06, + "acceleration": 4.690959485742496e-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": 8.101185812847689e-06, + "observation_loss": 6.721698809997179e-06, + "chamfer": 5.300707471178612e-06, + "track": 1.4209914525054046e-06, + "acceleration": 1.3794867754768347e-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": 8.40832399262581e-06, + "observation_loss": 6.554103492817376e-06, + "chamfer": 5.171116754354443e-06, + "track": 1.3829868521497701e-06, + "acceleration": 1.8542208408689476e-06, + "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": 7.208694569271756e-06, + "observation_loss": 6.151193247205811e-06, + "chamfer": 4.893661753158085e-06, + "track": 1.2575314940477256e-06, + "acceleration": 1.0575014357527834e-06, + "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": 6.479082003352232e-06, + "observation_loss": 5.912153028475586e-06, + "chamfer": 4.728804015030619e-06, + "track": 1.1833488997581298e-06, + "acceleration": 5.669287475029705e-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": 6.237650268303696e-06, + "observation_loss": 5.970850907033309e-06, + "chamfer": 4.7855965021881275e-06, + "track": 1.1852544048451819e-06, + "acceleration": 2.6679956022235274e-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": 6.419583769456949e-06, + "observation_loss": 6.296440460573649e-06, + "chamfer": 5.048916591476882e-06, + "track": 1.2475238690967672e-06, + "acceleration": 1.2314352204612078e-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": 6.676309112663148e-06, + "observation_loss": 6.575322004209738e-06, + "chamfer": 5.276178853819147e-06, + "track": 1.2991431503905915e-06, + "acceleration": 1.009870658208456e-07, + "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": 6.869846856716322e-06, + "observation_loss": 6.84674614603864e-06, + "chamfer": 5.516364126378903e-06, + "track": 1.3303821333465748e-06, + "acceleration": 2.3100882984294913e-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": 7.207245744211832e-06, + "observation_loss": 7.118660505511798e-06, + "chamfer": 5.752078322984744e-06, + "track": 1.3665819551533787e-06, + "acceleration": 8.858535238687182e-08, + "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": 7.374026154138846e-06, + "observation_loss": 7.346548045461532e-06, + "chamfer": 5.94882340010372e-06, + "track": 1.3977247590446495e-06, + "acceleration": 2.7477922159846457e-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": 7.672601896047127e-06, + "observation_loss": 7.605611699545989e-06, + "chamfer": 6.161133569548838e-06, + "track": 1.4444780163103133e-06, + "acceleration": 6.699049492908671e-08, + "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": 7.711387297604233e-06, + "observation_loss": 7.558871857327176e-06, + "chamfer": 6.128179848019499e-06, + "track": 1.430692009307677e-06, + "acceleration": 1.5251541185534734e-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": 7.4828217293543275e-06, + "observation_loss": 7.273859409906436e-06, + "chamfer": 5.918155238759937e-06, + "track": 1.3557042848333367e-06, + "acceleration": 2.0896229102618236e-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": 7.188485142251011e-06, + "observation_loss": 7.101482879079413e-06, + "chamfer": 5.799428890895797e-06, + "track": 1.3020537608099403e-06, + "acceleration": 8.700222764446153e-08, + "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": 7.195931630121777e-06, + "observation_loss": 7.089696737239137e-06, + "chamfer": 5.792422598460689e-06, + "track": 1.2972742524652858e-06, + "acceleration": 1.0623478630122918e-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": 7.2969669417943805e-06, + "observation_loss": 7.133524377422873e-06, + "chamfer": 5.822037110192468e-06, + "track": 1.311487039856729e-06, + "acceleration": 1.634423654195416e-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": 7.148258646338945e-06, + "observation_loss": 7.022596946626436e-06, + "chamfer": 5.745890575781232e-06, + "track": 1.2767065982188797e-06, + "acceleration": 1.2566157181481685e-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": 6.906354883540189e-06, + "observation_loss": 6.745909104211023e-06, + "chamfer": 5.5459663599322084e-06, + "track": 1.1999428579656524e-06, + "acceleration": 1.6044579354002053e-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": 6.7733399191638455e-06, + "observation_loss": 6.63525042909896e-06, + "chamfer": 5.454754955280805e-06, + "track": 1.1804953601313173e-06, + "acceleration": 1.3808929111291945e-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": 7.09268351783976e-06, + "observation_loss": 6.94451682647923e-06, + "chamfer": 5.669225174642634e-06, + "track": 1.2752916518365964e-06, + "acceleration": 1.481667766256578e-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": 7.678849215153605e-06, + "observation_loss": 7.396442470053444e-06, + "chamfer": 5.981667072774144e-06, + "track": 1.414775283592462e-06, + "acceleration": 2.824070861606742e-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": 7.89144542068243e-06, + "observation_loss": 7.610534339619335e-06, + "chamfer": 6.128979293862358e-06, + "track": 1.4815552731306525e-06, + "acceleration": 2.8091105264138605e-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": 7.826603905414231e-06, + "observation_loss": 7.642775926797185e-06, + "chamfer": 6.164421392895747e-06, + "track": 1.4783546475882758e-06, + "acceleration": 1.8382797861704603e-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": 7.886986168159638e-06, + "observation_loss": 7.483784884243505e-06, + "chamfer": 6.0575816860364284e-06, + "track": 1.4262031982070766e-06, + "acceleration": 4.03201710241774e-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": 7.488346909667598e-06, + "observation_loss": 7.275653842953034e-06, + "chamfer": 5.909949777560541e-06, + "track": 1.3657040653924923e-06, + "acceleration": 2.1269323724482092e-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": 7.200020263553597e-06, + "observation_loss": 7.1379322434950154e-06, + "chamfer": 5.813620191474911e-06, + "track": 1.3243119383332669e-06, + "acceleration": 6.208814795627404e-08, + "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": 7.1731424213794526e-06, + "observation_loss": 7.133558483474189e-06, + "chamfer": 5.8163373068964574e-06, + "track": 1.3172210628908942e-06, + "acceleration": 3.9584151068083884e-08, + "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": 7.315755283343606e-06, + "observation_loss": 7.249254849739373e-06, + "chamfer": 5.913074801355833e-06, + "track": 1.3361799346967018e-06, + "acceleration": 6.650059702906219e-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": 7.601897777931299e-06, + "observation_loss": 7.514246135542635e-06, + "chamfer": 6.1088294387445785e-06, + "track": 1.405416469424381e-06, + "acceleration": 8.765179870806605e-08, + "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": 7.827613444533199e-06, + "observation_loss": 7.73727151681669e-06, + "chamfer": 6.274240604398074e-06, + "track": 1.4630306850449415e-06, + "acceleration": 9.034184955680757e-08, + "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": 8.241416253440548e-06, + "observation_loss": 8.070609510468785e-06, + "chamfer": 6.513040261779679e-06, + "track": 1.5575693623759435e-06, + "acceleration": 1.70806345067831e-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": 8.400282240472734e-06, + "observation_loss": 8.340604836121202e-06, + "chamfer": 6.699232926621335e-06, + "track": 1.6413716821261914e-06, + "acceleration": 5.967775962290034e-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": 8.723042810743209e-06, + "observation_loss": 8.370852810912766e-06, + "chamfer": 6.717696578562027e-06, + "track": 1.6531566870980896e-06, + "acceleration": 3.521899998304434e-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": 8.45904833113309e-06, + "observation_loss": 8.384360626223497e-06, + "chamfer": 6.743663561792346e-06, + "track": 1.6406967233706382e-06, + "acceleration": 7.46873638490797e-08, + "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": 8.752061148697976e-06, + "observation_loss": 8.594469363742974e-06, + "chamfer": 6.897880211909069e-06, + "track": 1.696589492894418e-06, + "acceleration": 1.5759150073790806e-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": 9.219413186656311e-06, + "observation_loss": 9.002184015116654e-06, + "chamfer": 7.180399279604899e-06, + "track": 1.8217845081380801e-06, + "acceleration": 2.1722956944358884e-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": 9.440518624614924e-06, + "observation_loss": 9.308439075539354e-06, + "chamfer": 7.388385711237788e-06, + "track": 1.9200535916752415e-06, + "acceleration": 1.3207952065386053e-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": 9.563024832459632e-06, + "observation_loss": 9.446665899304207e-06, + "chamfer": 7.4664239946287125e-06, + "track": 1.9802416773018194e-06, + "acceleration": 1.1635897578798904e-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": 9.68833683145931e-06, + "observation_loss": 9.607788342691492e-06, + "chamfer": 7.5660241236619186e-06, + "track": 2.041764446403249e-06, + "acceleration": 8.054864508721948e-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": 9.706397577247117e-06, + "observation_loss": 9.615797353035305e-06, + "chamfer": 7.568394266854739e-06, + "track": 2.0474033135542413e-06, + "acceleration": 9.059998262728186e-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": 9.649220373830758e-06, + "observation_loss": 9.569823305355385e-06, + "chamfer": 7.534964879596373e-06, + "track": 2.0348588805063628e-06, + "acceleration": 7.939670609857785e-08, + "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": 9.680292350822128e-06, + "observation_loss": 9.492140634392854e-06, + "chamfer": 7.478998668375425e-06, + "track": 2.0131419660174288e-06, + "acceleration": 1.8815133273619722e-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": 9.868377674138173e-06, + "observation_loss": 9.744195267558098e-06, + "chamfer": 7.644755896762945e-06, + "track": 2.0994395981688285e-06, + "acceleration": 1.2418240658007562e-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": 1.0315953659301158e-05, + "observation_loss": 1.0242853022646159e-05, + "chamfer": 7.953802196425386e-06, + "track": 2.2890510535944486e-06, + "acceleration": 7.310091376666605e-08, + "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": 1.0902052054007072e-05, + "observation_loss": 1.0658895007509273e-05, + "chamfer": 8.227780199376866e-06, + "track": 2.4311150355060818e-06, + "acceleration": 2.431567054372863e-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": 1.0584633855614811e-05, + "observation_loss": 1.047949626808986e-05, + "chamfer": 8.11757672636304e-06, + "track": 2.3619197691004956e-06, + "acceleration": 1.0513783621490802e-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": 1.0259788723487873e-05, + "observation_loss": 1.011835593089927e-05, + "chamfer": 7.891633686085697e-06, + "track": 2.2267222448135726e-06, + "acceleration": 1.4143240889552544e-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": 9.90353601082461e-06, + "observation_loss": 9.85662336461246e-06, + "chamfer": 7.71464874560479e-06, + "track": 2.141974846381345e-06, + "acceleration": 4.691265687029045e-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": 9.698828762338962e-06, + "observation_loss": 9.636098184273578e-06, + "chamfer": 7.55396968088462e-06, + "track": 2.0821287307626335e-06, + "acceleration": 6.273058517081154e-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": 9.712356586533133e-06, + "observation_loss": 9.649053026805632e-06, + "chamfer": 7.549421752628405e-06, + "track": 2.099631728924578e-06, + "acceleration": 6.330372315233035e-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": 9.797160601010546e-06, + "observation_loss": 9.707538993097842e-06, + "chamfer": 7.580654710181989e-06, + "track": 2.1268840555421775e-06, + "acceleration": 8.962191344608073e-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": 9.75724651652854e-06, + "observation_loss": 9.690348633739632e-06, + "chamfer": 7.563399321952602e-06, + "track": 2.1269490844133543e-06, + "acceleration": 6.689808174087375e-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": 9.816039892029949e-06, + "observation_loss": 9.697933819552418e-06, + "chamfer": 7.542462753917789e-06, + "track": 2.1554710656346288e-06, + "acceleration": 1.1810578826043638e-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": 9.934011359291617e-06, + "observation_loss": 9.713602594274562e-06, + "chamfer": 7.543883839389309e-06, + "track": 2.169718527511577e-06, + "acceleration": 2.2040872238449083e-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": 1.0236429261567537e-05, + "observation_loss": 9.7740521596279e-06, + "chamfer": 7.556078344350681e-06, + "track": 2.2179742700245697e-06, + "acceleration": 4.623767893008335e-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": 1.0438838216941804e-05, + "observation_loss": 9.820605555432849e-06, + "chamfer": 7.579116754641291e-06, + "track": 2.241488800791558e-06, + "acceleration": 6.182328320392116e-07, + "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": 1.007132505037589e-05, + "observation_loss": 9.801567102840636e-06, + "chamfer": 7.559385267086327e-06, + "track": 2.2421816083806334e-06, + "acceleration": 2.697581749089295e-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": 9.972553016268648e-06, + "observation_loss": 9.879782737698406e-06, + "chamfer": 7.61925775805139e-06, + "track": 2.2605247522733407e-06, + "acceleration": 9.277021462139601e-08, + "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": 1.0037470929091796e-05, + "observation_loss": 9.960972420230974e-06, + "chamfer": 7.67309120419668e-06, + "track": 2.2878809886606177e-06, + "acceleration": 7.649852307167748e-08, + "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": 1.020764193526702e-05, + "observation_loss": 1.0125257176696323e-05, + "chamfer": 7.774728146614507e-06, + "track": 2.350529030081816e-06, + "acceleration": 8.23843819830472e-08, + "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": 1.0164952072955202e-05, + "observation_loss": 1.0082931112265214e-05, + "chamfer": 7.743356036371551e-06, + "track": 2.339574621146312e-06, + "acceleration": 8.202096779541534e-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": 1.0184130587731488e-05, + "observation_loss": 1.0021846719610039e-05, + "chamfer": 7.685232048970647e-06, + "track": 2.336614670639392e-06, + "acceleration": 1.622834986392263e-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": 1.0035008926934097e-05, + "observation_loss": 9.942325050360523e-06, + "chamfer": 7.5935877248412e-06, + "track": 2.348737552892999e-06, + "acceleration": 9.268369893788986e-08, + "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": 9.909907021210529e-06, + "observation_loss": 9.833827789407223e-06, + "chamfer": 7.492928489227779e-06, + "track": 2.340899754926795e-06, + "acceleration": 7.607916785445923e-08, + "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": 9.916828275891021e-06, + "observation_loss": 9.708137440611608e-06, + "chamfer": 7.412029390252428e-06, + "track": 2.29610805035918e-06, + "acceleration": 2.0869102002052387e-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": 1.0083316738018766e-05, + "observation_loss": 9.570017937221564e-06, + "chamfer": 7.345222456933698e-06, + "track": 2.2247952529141912e-06, + "acceleration": 5.13298687110364e-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": 9.818779290071689e-06, + "observation_loss": 9.550192771712318e-06, + "chamfer": 7.335927875828929e-06, + "track": 2.214264441136038e-06, + "acceleration": 2.6858643309424224e-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": 9.844006854109466e-06, + "observation_loss": 9.594400580681395e-06, + "chamfer": 7.382096555375028e-06, + "track": 2.2123040253063664e-06, + "acceleration": 2.4960587552413926e-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": 1.0046191164292395e-05, + "observation_loss": 9.711702659842558e-06, + "chamfer": 7.465850103471894e-06, + "track": 2.2458521016233135e-06, + "acceleration": 3.3448864655838406e-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": 9.983207746699918e-06, + "observation_loss": 9.875509022094775e-06, + "chamfer": 7.5704419941757806e-06, + "track": 2.305066800545319e-06, + "acceleration": 1.0769895908424587e-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": 1.0105004548677243e-05, + "observation_loss": 1.0075399586639833e-05, + "chamfer": 7.691777682339307e-06, + "track": 2.3836221316742012e-06, + "acceleration": 2.960500822268841e-08, + "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": 1.0262292562401854e-05, + "observation_loss": 1.0231462511001155e-05, + "chamfer": 7.757482308079489e-06, + "track": 2.4739804302953416e-06, + "acceleration": 3.083049904262225e-08, + "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": 1.0499843483557925e-05, + "observation_loss": 1.0407871741335839e-05, + "chamfer": 7.832290066289715e-06, + "track": 2.5755821297934745e-06, + "acceleration": 9.197204065003461e-08, + "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": 1.0886234122153837e-05, + "observation_loss": 1.0738132914411835e-05, + "chamfer": 7.995842679520138e-06, + "track": 2.7422900075180223e-06, + "acceleration": 1.481015203808056e-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": 1.1216567145311274e-05, + "observation_loss": 1.107832940761e-05, + "chamfer": 8.176383744284976e-06, + "track": 2.901945208577672e-06, + "acceleration": 1.382380645509329e-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": 1.1441505193943158e-05, + "observation_loss": 1.1365717909939121e-05, + "chamfer": 8.331449862453155e-06, + "track": 3.0342680474859662e-06, + "acceleration": 7.578773875138722e-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": 1.1673041626636405e-05, + "observation_loss": 1.1557434845599346e-05, + "chamfer": 8.423801773460582e-06, + "track": 3.133633072138764e-06, + "acceleration": 1.1560670287735775e-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": 1.1973940672760364e-05, + "observation_loss": 1.1881833415827714e-05, + "chamfer": 8.617550520284567e-06, + "track": 3.2642833502904978e-06, + "acceleration": 9.210710771867525e-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": 1.24060507005197e-05, + "observation_loss": 1.2224738384247757e-05, + "chamfer": 8.802222509984858e-06, + "track": 3.4225156468892237e-06, + "acceleration": 1.813122167959591e-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": 1.248919124918757e-05, + "observation_loss": 1.2433431038516574e-05, + "chamfer": 8.903946763894055e-06, + "track": 3.5294838198751677e-06, + "acceleration": 5.576065120749263e-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": 1.2607095413841307e-05, + "observation_loss": 1.2531916581792757e-05, + "chamfer": 8.94666573003633e-06, + "track": 3.5852503970090766e-06, + "acceleration": 7.517846967175501e-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": 1.2680230611294974e-05, + "observation_loss": 1.2615537343663163e-05, + "chamfer": 8.99477890925482e-06, + "track": 3.6207584344083443e-06, + "acceleration": 6.469283420074134e-08, + "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": 1.2692153177340515e-05, + "observation_loss": 1.264450929738814e-05, + "chamfer": 8.989809430204332e-06, + "track": 3.654699639810133e-06, + "acceleration": 4.7644022060922e-08, + "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": 1.2720091035589576e-05, + "observation_loss": 1.2668315321207047e-05, + "chamfer": 8.979644007922616e-06, + "track": 3.688671085910755e-06, + "acceleration": 5.177601636319196e-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": 1.2796296687156428e-05, + "observation_loss": 1.266779872821644e-05, + "chamfer": 8.98595590115292e-06, + "track": 3.6818428270635195e-06, + "acceleration": 1.2849810104853532e-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": 1.2729178706649691e-05, + "observation_loss": 1.262357909581624e-05, + "chamfer": 8.96506207936909e-06, + "track": 3.6585170164471492e-06, + "acceleration": 1.0559952556832286e-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": 1.259228702110704e-05, + "observation_loss": 1.2573899766721297e-05, + "chamfer": 8.928512215788942e-06, + "track": 3.6453875509323552e-06, + "acceleration": 1.838686536359546e-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": 1.259078908333322e-05, + "observation_loss": 1.2534875168057624e-05, + "chamfer": 8.893629455997143e-06, + "track": 3.6412457120604813e-06, + "acceleration": 5.591389040660033e-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": 1.2581654118548613e-05, + "observation_loss": 1.2486114428611472e-05, + "chamfer": 8.855339729052503e-06, + "track": 3.6307751543063205e-06, + "acceleration": 9.553966862085872e-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": 1.246239753527334e-05, + "observation_loss": 1.2375960977806244e-05, + "chamfer": 8.796133442956489e-06, + "track": 3.579827762223431e-06, + "acceleration": 8.643611693059938e-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": 1.2190957022539806e-05, + "observation_loss": 1.2146414519520476e-05, + "chamfer": 8.672362127981614e-06, + "track": 3.474052846286213e-06, + "acceleration": 4.4542399990632475e-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": 1.0096709848047189e-05, + "chamfer_mean": 6.96671428575731e-06, + "track_mean": 2.0637888376029423e-06, + "acceleration_mean": 1.066206711641815e-06, + "observation_score": 9.030503117439062e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4306431430013618 + }, + "score_arrays_file": "pass_scores/pass_end_0084.npz", + "score_arrays_sha256": "732299417962691ad113f56f84cb1d1a9c3db1cb81a958d2560357f988c978bc" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0085.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0085.json new file mode 100644 index 0000000000000000000000000000000000000000..14d340ab0b0e73d0634ea8bd2924b7bfa4bdfd3a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0085.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8160, + "completed_passes": 85, + "snapshot": "pass_end_0085", + "candidate": true, + "snapshot_arrays_sha256": "e430762d6e556c5350e412a9f16cc7fd4193325a70a3e04656855f9704b2c269", + "score": 9.01986509186751e-06, + "score_result": { + "score": 9.01986509186751e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.039673401872278e-06, + 3.4328127185290214e-06, + 4.0357890611630864e-06, + 5.247562512522563e-06, + 6.2379331211559474e-06, + 6.711292371619493e-06, + 6.550382749992423e-06, + 6.149829005153151e-06, + 5.910360869165743e-06, + 5.963991043245187e-06, + 6.289858447416918e-06, + 6.571498033736134e-06, + 6.8430963438004255e-06, + 7.111867944331607e-06, + 7.332353561650962e-06, + 7.584942977700848e-06, + 7.533125426562037e-06, + 7.245752385642845e-06, + 7.073627330100862e-06, + 7.061675205477513e-06, + 7.105825716280378e-06, + 6.996021511440631e-06, + 6.720626515743788e-06, + 6.609481260966277e-06, + 6.916044185345527e-06, + 7.367527814494679e-06, + 7.583534170407802e-06, + 7.6169317253516056e-06, + 7.458864274667576e-06, + 7.2538341555627994e-06, + 7.117941095202696e-06, + 7.115532753232401e-06, + 7.230790288303979e-06, + 7.4959593803214375e-06, + 7.720170287939254e-06, + 8.055276339291595e-06, + 8.326874194608536e-06, + 8.35775335872313e-06, + 8.370188879780471e-06, + 8.579405402997509e-06, + 8.986560715129599e-06, + 9.293333278037608e-06, + 9.43037503020605e-06, + 9.592487913323566e-06, + 9.602135833119974e-06, + 9.556126315146685e-06, + 9.479176696913783e-06, + 9.732891157909762e-06, + 1.0233165085082874e-05, + 1.0649986506905407e-05, + 1.0470223060110584e-05, + 1.0108980859513395e-05, + 9.847040018939879e-06, + 9.627139661461115e-06, + 9.638030860514846e-06, + 9.69558550423244e-06, + 9.67844152910402e-06, + 9.684434189694002e-06, + 9.700554983282927e-06, + 9.760868124431e-06, + 9.808305549086072e-06, + 9.79173000814626e-06, + 9.873786439129617e-06, + 9.957760994439013e-06, + 1.0123789252247661e-05, + 1.0083316738018766e-05, + 1.0023139111581258e-05, + 9.944122211891226e-06, + 9.835828677751124e-06, + 9.708860488899518e-06, + 9.568857421982102e-06, + 9.547449735691771e-06, + 9.588466127752326e-06, + 9.70502424024744e-06, + 9.867402695817873e-06, + 1.0065494279842824e-05, + 1.0220240255875979e-05, + 1.0397359801572748e-05, + 1.0729698260547593e-05, + 1.1074562280555256e-05, + 1.1363987141521648e-05, + 1.1554850061656907e-05, + 1.1877335055032745e-05, + 1.2221435099490918e-05, + 1.2431320101313759e-05, + 1.2530330423032865e-05, + 1.2613332728506066e-05, + 1.2642038200283423e-05, + 1.2666600014199503e-05, + 1.26664963318035e-05, + 1.2621546375157777e-05, + 1.2571385923365597e-05, + 1.2533244444057345e-05, + 1.24846919788979e-05, + 1.237454853253439e-05, + 1.2145166692789644e-05 + ] + ], + "episode_mean_losses": [ + 9.01986509186751e-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": 3.039673401872278e-06, + "observation_loss": 3.039673401872278e-06, + "chamfer": 2.5767385523067787e-06, + "track": 4.6293493483062775e-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": 4.8818288632901385e-05, + "observation_loss": 3.4328127185290214e-06, + "chamfer": 2.902015921790735e-06, + "track": 5.307966830514488e-07, + "acceleration": 4.538547727861442e-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": 2.9569055186584592e-05, + "observation_loss": 4.0357890611630864e-06, + "chamfer": 3.3930868994502816e-06, + "track": 6.427023322430614e-07, + "acceleration": 2.5533265215926804e-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": 1.4790862223890144e-05, + "observation_loss": 5.247562512522563e-06, + "chamfer": 4.316739705245709e-06, + "track": 9.308225799031788e-07, + "acceleration": 9.543299711367581e-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": 1.0904203008976765e-05, + "observation_loss": 6.2379331211559474e-06, + "chamfer": 4.9960235628532246e-06, + "track": 1.2419093309290474e-06, + "acceleration": 4.666270342568168e-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": 8.089024959190283e-06, + "observation_loss": 6.711292371619493e-06, + "chamfer": 5.2941277317586355e-06, + "track": 1.4171645261740196e-06, + "acceleration": 1.3777325875707902e-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": 8.42249301058473e-06, + "observation_loss": 6.550382749992423e-06, + "chamfer": 5.168726602278184e-06, + "track": 1.3816562614010763e-06, + "acceleration": 1.8721103742791456e-06, + "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": 7.231759354908718e-06, + "observation_loss": 6.149829005153151e-06, + "chamfer": 4.8926467570709065e-06, + "track": 1.2571822480822448e-06, + "acceleration": 1.0819303497555666e-06, + "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": 6.490573014161782e-06, + "observation_loss": 5.910360869165743e-06, + "chamfer": 4.727521172753768e-06, + "track": 1.182839582725137e-06, + "acceleration": 5.80211974465783e-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": 6.232439318409888e-06, + "observation_loss": 5.963991043245187e-06, + "chamfer": 4.780963081429945e-06, + "track": 1.1830280755020794e-06, + "acceleration": 2.6844836042982934e-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": 6.415673851734027e-06, + "observation_loss": 6.289858447416918e-06, + "chamfer": 5.044635599915637e-06, + "track": 1.245222733814444e-06, + "acceleration": 1.2581527641941648e-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": 6.675318672932917e-06, + "observation_loss": 6.571498033736134e-06, + "chamfer": 5.273478564049583e-06, + "track": 1.2980193559997133e-06, + "acceleration": 1.0382055393165501e-07, + "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": 6.86786597725586e-06, + "observation_loss": 6.8430963438004255e-06, + "chamfer": 5.513363248610403e-06, + "track": 1.3297329815031844e-06, + "acceleration": 2.4769809314761915e-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": 7.202741471701302e-06, + "observation_loss": 7.111867944331607e-06, + "chamfer": 5.746645001636352e-06, + "track": 1.3652230563820922e-06, + "acceleration": 9.087349894798535e-08, + "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": 7.35952062314027e-06, + "observation_loss": 7.332353561650962e-06, + "chamfer": 5.938148660789011e-06, + "track": 1.394205128235626e-06, + "acceleration": 2.7167084581947165e-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": 7.650957741134334e-06, + "observation_loss": 7.584942977700848e-06, + "chamfer": 6.146057330624899e-06, + "track": 1.4388856470759492e-06, + "acceleration": 6.601479896062301e-08, + "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": 7.684135198360309e-06, + "observation_loss": 7.533125426562037e-06, + "chamfer": 6.109566129453015e-06, + "track": 1.4235590697353473e-06, + "acceleration": 1.5100971495485283e-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": 7.45456736694905e-06, + "observation_loss": 7.245752385642845e-06, + "chamfer": 5.897938990528928e-06, + "track": 1.3478132814270793e-06, + "acceleration": 2.0881493867364043e-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": 7.1624708652962e-06, + "observation_loss": 7.073627330100862e-06, + "chamfer": 5.779478215117706e-06, + "track": 1.2941491149831563e-06, + "acceleration": 8.884360624961118e-08, + "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": 7.1691010816721246e-06, + "observation_loss": 7.061675205477513e-06, + "chamfer": 5.772139047621749e-06, + "track": 1.2895359304820886e-06, + "acceleration": 1.0742585487832912e-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": 7.271960384969134e-06, + "observation_loss": 7.105825716280378e-06, + "chamfer": 5.802035502711078e-06, + "track": 1.3037899861956248e-06, + "acceleration": 1.661348676407215e-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": 7.123722753021866e-06, + "observation_loss": 6.996021511440631e-06, + "chamfer": 5.726618837798014e-06, + "track": 1.2694026736426167e-06, + "acceleration": 1.2770102841841435e-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": 6.8818922045466024e-06, + "observation_loss": 6.720626515743788e-06, + "chamfer": 5.527298071683617e-06, + "track": 1.1933282166864956e-06, + "acceleration": 1.6126550406170281e-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": 6.747026418452151e-06, + "observation_loss": 6.609481260966277e-06, + "chamfer": 5.43557189303101e-06, + "track": 1.1739092542484286e-06, + "acceleration": 1.3754497274476307e-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": 7.063281373120844e-06, + "observation_loss": 6.916044185345527e-06, + "chamfer": 5.648404112434946e-06, + "track": 1.2676398455369053e-06, + "acceleration": 1.4723734409471945e-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": 7.649279723409563e-06, + "observation_loss": 7.367527814494679e-06, + "chamfer": 5.961197075521341e-06, + "track": 1.4063307389733382e-06, + "acceleration": 2.8175182364975626e-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": 7.864344297559e-06, + "observation_loss": 7.583534170407802e-06, + "chamfer": 6.109894457040355e-06, + "track": 1.4736394859937718e-06, + "acceleration": 2.8080970082555723e-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": 7.800880666763987e-06, + "observation_loss": 7.6169317253516056e-06, + "chamfer": 6.145867700979579e-06, + "track": 1.4710637969983509e-06, + "acceleration": 1.8394869982785167e-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": 7.862579877837561e-06, + "observation_loss": 7.458864274667576e-06, + "chamfer": 6.039299933036091e-06, + "track": 1.4195642279446474e-06, + "acceleration": 4.037154894831474e-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": 7.46754085412249e-06, + "observation_loss": 7.2538341555627994e-06, + "chamfer": 5.893925845157355e-06, + "track": 1.359908083031769e-06, + "acceleration": 2.1370667013798084e-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": 7.179857675509993e-06, + "observation_loss": 7.117941095202696e-06, + "chamfer": 5.798707661597291e-06, + "track": 1.3192334336054046e-06, + "acceleration": 6.191675083755399e-08, + "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": 7.156134415708948e-06, + "observation_loss": 7.115532753232401e-06, + "chamfer": 5.802837222290691e-06, + "track": 1.3126954172548722e-06, + "acceleration": 4.0601598527700844e-08, + "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": 7.2991260822163895e-06, + "observation_loss": 7.230790288303979e-06, + "chamfer": 5.899223651795182e-06, + "track": 1.3315666365087964e-06, + "acceleration": 6.833558785501737e-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": 7.5866078077524435e-06, + "observation_loss": 7.4959593803214375e-06, + "chamfer": 6.095093795011053e-06, + "track": 1.4008656989972224e-06, + "acceleration": 9.064834216587769e-08, + "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": 7.81223934609443e-06, + "observation_loss": 7.720170287939254e-06, + "chamfer": 6.261523594730534e-06, + "track": 1.4586470342692337e-06, + "acceleration": 9.206915052573095e-08, + "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": 8.226558747992385e-06, + "observation_loss": 8.055276339291595e-06, + "chamfer": 6.5017834458558355e-06, + "track": 1.5534928934357595e-06, + "acceleration": 1.7128269291788456e-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": 8.38593223306816e-06, + "observation_loss": 8.326874194608536e-06, + "chamfer": 6.689365363854449e-06, + "track": 1.6375090581277618e-06, + "acceleration": 5.905805622319349e-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": 8.709283974894788e-06, + "observation_loss": 8.35775335872313e-06, + "chamfer": 6.708414730383083e-06, + "track": 1.6493384009663714e-06, + "acceleration": 3.5153101407559006e-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": 8.445524144917727e-06, + "observation_loss": 8.370188879780471e-06, + "chamfer": 6.733717782481108e-06, + "track": 1.6364707562388503e-06, + "acceleration": 7.533483170618638e-08, + "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": 8.733757567824796e-06, + "observation_loss": 8.579405402997509e-06, + "chamfer": 6.887597464810824e-06, + "track": 1.6918083929340355e-06, + "acceleration": 1.5435259115292865e-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": 9.19846206670627e-06, + "observation_loss": 8.986560715129599e-06, + "chamfer": 7.169759555836208e-06, + "track": 1.8168016140407417e-06, + "acceleration": 2.119014368417993e-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": 9.425728421774693e-06, + "observation_loss": 9.293333278037608e-06, + "chamfer": 7.378186182904756e-06, + "track": 1.915147095132852e-06, + "acceleration": 1.3239510110452102e-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": 9.547697118250653e-06, + "observation_loss": 9.43037503020605e-06, + "chamfer": 7.455316790583311e-06, + "track": 1.9750580122490646e-06, + "acceleration": 1.1732235805084201e-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": 9.672133273852523e-06, + "observation_loss": 9.592487913323566e-06, + "chamfer": 7.555723641416989e-06, + "track": 2.0367640445329016e-06, + "acceleration": 7.964535342352974e-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": 9.692410458228551e-06, + "observation_loss": 9.602135833119974e-06, + "chamfer": 7.5593275141727645e-06, + "track": 2.0428085463208845e-06, + "acceleration": 9.027493774738105e-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": 9.635651622375008e-06, + "observation_loss": 9.556126315146685e-06, + "chamfer": 7.5258308243064675e-06, + "track": 2.030295945587568e-06, + "acceleration": 7.952536407174193e-08, + "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": 9.668018719821703e-06, + "observation_loss": 9.479176696913783e-06, + "chamfer": 7.470224318240071e-06, + "track": 2.008952378673712e-06, + "acceleration": 1.8884239239014278e-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": 9.857193617790472e-06, + "observation_loss": 9.732891157909762e-06, + "chamfer": 7.637208000232931e-06, + "track": 2.095683157676831e-06, + "acceleration": 1.2430211882019648e-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": 1.0306725016562268e-05, + "observation_loss": 1.0233165085082874e-05, + "chamfer": 7.947424819576554e-06, + "track": 2.285740492879995e-06, + "acceleration": 7.356038622674532e-08, + "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": 1.0892928912653588e-05, + "observation_loss": 1.0649986506905407e-05, + "chamfer": 8.221957614296116e-06, + "track": 2.4280293473566417e-06, + "acceleration": 2.429422920613433e-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": 1.0576199201750569e-05, + "observation_loss": 1.0470223060110584e-05, + "chamfer": 8.11132849776186e-06, + "track": 2.358894334975048e-06, + "acceleration": 1.0597590005545499e-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": 1.0251080311718397e-05, + "observation_loss": 1.0108980859513395e-05, + "chamfer": 7.885444574640132e-06, + "track": 2.2235360574995866e-06, + "acceleration": 1.4209912535534386e-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": 9.893202332023066e-06, + "observation_loss": 9.847040018939879e-06, + "chamfer": 7.708381417614873e-06, + "track": 2.13865837395133e-06, + "acceleration": 4.616230242504571e-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": 9.689032594906166e-06, + "observation_loss": 9.627139661461115e-06, + "chamfer": 7.548086614406202e-06, + "track": 2.0790532744285883e-06, + "acceleration": 6.189323897842769e-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": 9.701743692858145e-06, + "observation_loss": 9.638030860514846e-06, + "chamfer": 7.542423190898262e-06, + "track": 2.0956076696165837e-06, + "acceleration": 6.371261207505086e-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": 9.786262125999201e-06, + "observation_loss": 9.69558550423244e-06, + "chamfer": 7.573144102934748e-06, + "track": 2.1224411739240168e-06, + "acceleration": 9.067628070624778e-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": 9.74543763732072e-06, + "observation_loss": 9.67844152910402e-06, + "chamfer": 7.555916454293765e-06, + "track": 2.1225250748102553e-06, + "acceleration": 6.699574583990398e-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": 9.802445674722549e-06, + "observation_loss": 9.684434189694002e-06, + "chamfer": 7.533925327152247e-06, + "track": 2.1505086351680802e-06, + "acceleration": 1.1801117238974257e-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": 9.92332206806168e-06, + "observation_loss": 9.700554983282927e-06, + "chamfer": 7.5358125286584254e-06, + "track": 2.164742454624502e-06, + "acceleration": 2.227669284593503e-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": 1.0231548003503121e-05, + "observation_loss": 9.760868124431e-06, + "chamfer": 7.547802852059249e-06, + "track": 2.213065727119101e-06, + "acceleration": 4.7067976538528455e-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": 1.0434560863359366e-05, + "observation_loss": 9.808305549086072e-06, + "chamfer": 7.571740752609912e-06, + "track": 2.2365647964761592e-06, + "acceleration": 6.262555416469695e-07, + "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": 1.0065401511383243e-05, + "observation_loss": 9.79173000814626e-06, + "chamfer": 7.553770046797581e-06, + "track": 2.2379601887223544e-06, + "acceleration": 2.736718158757867e-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": 9.968686754291411e-06, + "observation_loss": 9.873786439129617e-06, + "chamfer": 7.616206403326942e-06, + "track": 2.2575800358026754e-06, + "acceleration": 9.489995278499919e-08, + "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": 1.0034971637651324e-05, + "observation_loss": 9.957760994439013e-06, + "chamfer": 7.671686034882441e-06, + "track": 2.2860747321828967e-06, + "acceleration": 7.721070716115719e-08, + "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": 1.020606669044355e-05, + "observation_loss": 1.0123789252247661e-05, + "chamfer": 7.774278856231831e-06, + "track": 2.349510168642155e-06, + "acceleration": 8.227716818964836e-08, + "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": 1.0165148523810785e-05, + "observation_loss": 1.0083316738018766e-05, + "chamfer": 7.74397631175816e-06, + "track": 2.339340653634281e-06, + "acceleration": 8.183196342770316e-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": 1.0186319741478655e-05, + "observation_loss": 1.0023139111581258e-05, + "chamfer": 7.686508070037235e-06, + "track": 2.336630586796673e-06, + "acceleration": 1.6318050199970457e-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": 1.003776560537517e-05, + "observation_loss": 9.944122211891226e-06, + "chamfer": 7.595100214530248e-06, + "track": 2.3490222247346537e-06, + "acceleration": 9.364296715830278e-08, + "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": 9.912721907312516e-06, + "observation_loss": 9.835828677751124e-06, + "chamfer": 7.494535111618461e-06, + "track": 2.341293111385312e-06, + "acceleration": 7.689320824511015e-08, + "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": 9.919714102579746e-06, + "observation_loss": 9.708860488899518e-06, + "chamfer": 7.4128452069999184e-06, + "track": 2.2960152818995994e-06, + "acceleration": 2.1085386947561346e-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": 1.008642720989883e-05, + "observation_loss": 9.568857421982102e-06, + "chamfer": 7.344585810642457e-06, + "track": 2.22427138396597e-06, + "acceleration": 5.175699584469839e-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": 9.81925677479012e-06, + "observation_loss": 9.547449735691771e-06, + "chamfer": 7.334177098528016e-06, + "track": 2.2132726371637546e-06, + "acceleration": 2.718072664720239e-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": 9.819689694268163e-06, + "observation_loss": 9.588466127752326e-06, + "chamfer": 7.377981091849506e-06, + "track": 2.210484808529145e-06, + "acceleration": 2.3122373704609345e-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": 9.970935934688896e-06, + "observation_loss": 9.70502424024744e-06, + "chamfer": 7.461419045284856e-06, + "track": 2.2436051949625835e-06, + "acceleration": 2.659118365500035e-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": 9.956174835679121e-06, + "observation_loss": 9.867402695817873e-06, + "chamfer": 7.565492069261381e-06, + "track": 2.3019110813038424e-06, + "acceleration": 8.877198354184657e-08, + "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": 1.0095868674397934e-05, + "observation_loss": 1.0065494279842824e-05, + "chamfer": 7.68585960031487e-06, + "track": 2.379634452154278e-06, + "acceleration": 3.037413520701193e-08, + "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": 1.025154870148981e-05, + "observation_loss": 1.0220240255875979e-05, + "chamfer": 7.750899385428056e-06, + "track": 2.469340643074247e-06, + "acceleration": 3.130883641233595e-08, + "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": 1.0490522072359454e-05, + "observation_loss": 1.0397359801572748e-05, + "chamfer": 7.826529326848686e-06, + "track": 2.5708309294714127e-06, + "acceleration": 9.316261895264688e-08, + "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": 1.0881794878514484e-05, + "observation_loss": 1.0729698260547593e-05, + "chamfer": 7.990871381480247e-06, + "track": 2.738826651693671e-06, + "acceleration": 1.5209683112971106e-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": 1.1220548913115636e-05, + "observation_loss": 1.1074562280555256e-05, + "chamfer": 8.173833521141205e-06, + "track": 2.9007285320403753e-06, + "acceleration": 1.459862488673025e-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": 1.1444378287706058e-05, + "observation_loss": 1.1363987141521648e-05, + "chamfer": 8.330162017955445e-06, + "track": 3.0338253509398783e-06, + "acceleration": 8.039140197979577e-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": 1.1671112588373944e-05, + "observation_loss": 1.1554850061656907e-05, + "chamfer": 8.422020073339809e-06, + "track": 3.132830215690774e-06, + "acceleration": 1.1626264750930204e-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": 1.1972188076470047e-05, + "observation_loss": 1.1877335055032745e-05, + "chamfer": 8.614919352112338e-06, + "track": 3.2624154755467316e-06, + "acceleration": 9.485297169931073e-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": 1.2405914276314434e-05, + "observation_loss": 1.2221435099490918e-05, + "chamfer": 8.800425348454155e-06, + "track": 3.4210099784104386e-06, + "acceleration": 1.8447894944984e-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": 1.2488249922171235e-05, + "observation_loss": 1.2431320101313759e-05, + "chamfer": 8.903098205337301e-06, + "track": 3.528222123350133e-06, + "acceleration": 5.692976401405758e-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": 1.2606807104020845e-05, + "observation_loss": 1.2530330423032865e-05, + "chamfer": 8.94620461622253e-06, + "track": 3.5841260341840098e-06, + "acceleration": 7.647644650887742e-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": 1.267910556634888e-05, + "observation_loss": 1.2613332728506066e-05, + "chamfer": 8.99408132681856e-06, + "track": 3.6192518564348575e-06, + "acceleration": 6.577247546601939e-08, + "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": 1.2690574294538237e-05, + "observation_loss": 1.2642038200283423e-05, + "chamfer": 8.988846275315154e-06, + "track": 3.653192152341944e-06, + "acceleration": 4.85359414881259e-08, + "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": 1.2719270671368577e-05, + "observation_loss": 1.2666600014199503e-05, + "chamfer": 8.979144695331343e-06, + "track": 3.6874555462418357e-06, + "acceleration": 5.2670728223347396e-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": 1.2796876944776159e-05, + "observation_loss": 1.26664963318035e-05, + "chamfer": 8.98575035535032e-06, + "track": 3.680746203826857e-06, + "acceleration": 1.303802150687261e-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": 1.272998906642897e-05, + "observation_loss": 1.2621546375157777e-05, + "chamfer": 8.964613698481116e-06, + "track": 3.6569324493029853e-06, + "acceleration": 1.0844264863862918e-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": 1.2590734513651114e-05, + "observation_loss": 1.2571385923365597e-05, + "chamfer": 8.92750540515408e-06, + "track": 3.6438805182115175e-06, + "acceleration": 1.9348235014149395e-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": 1.2589554899022914e-05, + "observation_loss": 1.2533244444057345e-05, + "chamfer": 8.89295097294962e-06, + "track": 3.6402936984814005e-06, + "acceleration": 5.631012456319695e-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": 1.2580894690472633e-05, + "observation_loss": 1.24846919788979e-05, + "chamfer": 8.854652151057962e-06, + "track": 3.630039373092586e-06, + "acceleration": 9.620237051422009e-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": 1.2461752703529783e-05, + "observation_loss": 1.237454853253439e-05, + "chamfer": 8.795198482403066e-06, + "track": 3.579349595383974e-06, + "acceleration": 8.720429889308434e-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": 1.2190316738269757e-05, + "observation_loss": 1.2145166692789644e-05, + "chamfer": 8.67145718075335e-06, + "track": 3.4737095120362937e-06, + "acceleration": 4.51497399467371e-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": 1.0084763789090326e-05, + "chamfer_mean": 6.959426762875864e-06, + "track_mean": 2.060438317445327e-06, + "acceleration_mean": 1.0648986767577047e-06, + "observation_score": 9.01986509186751e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4294497240007331 + }, + "score_arrays_file": "pass_scores/pass_end_0085.npz", + "score_arrays_sha256": "fbf6a984bfed88f0f25b0d027fc845d80bcf2ca747b72423d434d2a1664bb44d" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0086.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0086.json new file mode 100644 index 0000000000000000000000000000000000000000..0132528c174a50c29dd7e11d112973d75fe17cf8 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0086.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8256, + "completed_passes": 86, + "snapshot": "pass_end_0086", + "candidate": true, + "snapshot_arrays_sha256": "fb862fc212f1ca2174738b27b81edc508d0a896a69e76bba700d896b305a7beb", + "score": 9.010578840692082e-06, + "score_result": { + "score": 9.010578840692082e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0368896659638267e-06, + 3.431769528106088e-06, + 4.030633590446087e-06, + 5.236252036411315e-06, + 6.2245708249975e-06, + 6.700443918816745e-06, + 6.546926670125686e-06, + 6.148778993519954e-06, + 5.908608272875426e-06, + 5.957254415989155e-06, + 6.280567959038308e-06, + 6.564907380379736e-06, + 6.8385425038286485e-06, + 7.103660664142808e-06, + 7.317479230550816e-06, + 7.563071903859964e-06, + 7.506610927521251e-06, + 7.216762696771184e-06, + 7.045113761705579e-06, + 7.0328642323147506e-06, + 7.077681402734015e-06, + 6.969281002966454e-06, + 6.69538303554873e-06, + 6.583233698620461e-06, + 6.886761639179895e-06, + 7.337191163969692e-06, + 7.5544166975305416e-06, + 7.589514098071959e-06, + 7.432916845573345e-06, + 7.230289611470653e-06, + 7.095548880897695e-06, + 7.09510004526237e-06, + 7.21008154869196e-06, + 7.4767658588825725e-06, + 7.704746167291887e-06, + 8.039793101488613e-06, + 8.311649253300857e-06, + 8.344867637788411e-06, + 8.356269972864538e-06, + 8.564791642129421e-06, + 8.97217159945285e-06, + 9.280358426622115e-06, + 9.4166007329477e-06, + 9.579174729879014e-06, + 9.590446097718086e-06, + 9.544157364871353e-06, + 9.467721611144952e-06, + 9.722777576826047e-06, + 1.0224443940387573e-05, + 1.0642140296113212e-05, + 1.0462486898177303e-05, + 1.0102056876348797e-05, + 9.839348422246985e-06, + 9.618366675567813e-06, + 9.631376997276675e-06, + 9.689485523267649e-06, + 9.671438419900369e-06, + 9.675764886196703e-06, + 9.692297680885531e-06, + 9.753073754836805e-06, + 9.801521628105547e-06, + 9.78762636805186e-06, + 9.873670933302492e-06, + 9.960856914403848e-06, + 1.0127941095561255e-05, + 1.008962317428086e-05, + 1.0030207704403438e-05, + 9.951821994036436e-06, + 9.844120540947188e-06, + 9.715326086734422e-06, + 9.5743962447159e-06, + 9.550552022119518e-06, + 9.589107321517076e-06, + 9.70317250903463e-06, + 9.863766536000185e-06, + 1.0060045497084502e-05, + 1.0212565030087717e-05, + 1.038994287227979e-05, + 1.0723064406192861e-05, + 1.1071468179579824e-05, + 1.1362697478034534e-05, + 1.155235349870054e-05, + 1.1873369658133015e-05, + 1.2218835763633251e-05, + 1.2429374692146666e-05, + 1.2529168088803999e-05, + 1.2611528291017748e-05, + 1.2640517525142059e-05, + 1.2664511814364232e-05, + 1.266512663278263e-05, + 1.2620207598956767e-05, + 1.25702590594301e-05, + 1.253208756679669e-05, + 1.2482598322094418e-05, + 1.2373442586977035e-05, + 1.2145012078690343e-05 + ] + ], + "episode_mean_losses": [ + 9.010578840692082e-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": 3.0368896659638267e-06, + "observation_loss": 3.0368896659638267e-06, + "chamfer": 2.574420022938284e-06, + "track": 4.6246969986896147e-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": 4.8725447413744405e-05, + "observation_loss": 3.431769528106088e-06, + "chamfer": 2.9011657716182526e-06, + "track": 5.306036428009975e-07, + "acceleration": 4.5293676521396264e-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": 2.952722934423946e-05, + "observation_loss": 4.030633590446087e-06, + "chamfer": 3.3889994028868387e-06, + "track": 6.416341307158291e-07, + "acceleration": 2.5496596208540723e-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": 1.4755592928850092e-05, + "observation_loss": 5.236252036411315e-06, + "chamfer": 4.308381448936416e-06, + "track": 9.278703601012239e-07, + "acceleration": 9.519340892438777e-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": 1.086718839360401e-05, + "observation_loss": 6.2245708249975e-06, + "chamfer": 4.987292868463555e-06, + "track": 1.237278070220782e-06, + "acceleration": 4.64261711385916e-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": 8.076817721303087e-06, + "observation_loss": 6.700443918816745e-06, + "chamfer": 5.2872505875711795e-06, + "track": 1.4131933312455658e-06, + "acceleration": 1.3763741435468546e-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": 8.439204975729808e-06, + "observation_loss": 6.546926670125686e-06, + "chamfer": 5.1664983402588405e-06, + "track": 1.3804285572405206e-06, + "acceleration": 1.8922779645436094e-06, + "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": 7.26114967619651e-06, + "observation_loss": 6.148778993519954e-06, + "chamfer": 4.8918132051767316e-06, + "track": 1.2569657883432228e-06, + "acceleration": 1.1123706826765556e-06, + "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": 6.5069821175711695e-06, + "observation_loss": 5.908608272875426e-06, + "chamfer": 4.726215593109373e-06, + "track": 1.182392793452891e-06, + "acceleration": 5.983737878523243e-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": 6.228731763258111e-06, + "observation_loss": 5.957254415989155e-06, + "chamfer": 4.776402874995256e-06, + "track": 1.1808514273070614e-06, + "acceleration": 2.714775462209218e-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": 6.408125500456663e-06, + "observation_loss": 6.280567959038308e-06, + "chamfer": 5.038545168645214e-06, + "track": 1.2420229040799313e-06, + "acceleration": 1.275573993098078e-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": 6.6683564909908455e-06, + "observation_loss": 6.564907380379736e-06, + "chamfer": 5.268965651339386e-06, + "track": 1.2959415016666753e-06, + "acceleration": 1.034489542917072e-07, + "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": 6.863458111183718e-06, + "observation_loss": 6.8385425038286485e-06, + "chamfer": 5.509814855031436e-06, + "track": 1.3287274214235367e-06, + "acceleration": 2.4915509655443202e-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": 7.196764727268601e-06, + "observation_loss": 7.103660664142808e-06, + "chamfer": 5.740248525398783e-06, + "track": 1.3634121387440246e-06, + "acceleration": 9.31042620777589e-08, + "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": 7.3464325396344066e-06, + "observation_loss": 7.317479230550816e-06, + "chamfer": 5.9270682868373115e-06, + "track": 1.390410830026667e-06, + "acceleration": 2.895329487273557e-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": 7.630079380760435e-06, + "observation_loss": 7.563071903859964e-06, + "chamfer": 6.130198926257435e-06, + "track": 1.4328729776025284e-06, + "acceleration": 6.700746268961666e-08, + "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": 7.657992682652548e-06, + "observation_loss": 7.506610927521251e-06, + "chamfer": 6.0904530982952565e-06, + "track": 1.4161576018523192e-06, + "acceleration": 1.5138168407702324e-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": 7.426987394865137e-06, + "observation_loss": 7.216762696771184e-06, + "chamfer": 5.877070634596748e-06, + "track": 1.339691948487598e-06, + "acceleration": 2.1022485441335448e-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": 7.135647138056811e-06, + "observation_loss": 7.045113761705579e-06, + "chamfer": 5.7590373216953594e-06, + "track": 1.2860764400102198e-06, + "acceleration": 9.053324845353927e-08, + "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": 7.141237801988609e-06, + "observation_loss": 7.0328642323147506e-06, + "chamfer": 5.751225671701832e-06, + "track": 1.2816383332392434e-06, + "acceleration": 1.0837336361646521e-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": 7.2471248131478205e-06, + "observation_loss": 7.077681402734015e-06, + "chamfer": 5.781701929663541e-06, + "track": 1.295979586757312e-06, + "acceleration": 1.694435098897884e-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": 7.100485163391568e-06, + "observation_loss": 6.969281002966454e-06, + "chamfer": 5.707249783881707e-06, + "track": 1.2620311053979094e-06, + "acceleration": 1.3120394726229279e-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": 6.8578278842323925e-06, + "observation_loss": 6.69538303554873e-06, + "chamfer": 5.5087048167479225e-06, + "track": 1.1866782188008074e-06, + "acceleration": 1.6244487710537214e-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": 6.71994530421216e-06, + "observation_loss": 6.583233698620461e-06, + "chamfer": 5.416035492089577e-06, + "track": 1.1671980928440462e-06, + "acceleration": 1.3671144927229761e-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": 7.032861503830645e-06, + "observation_loss": 6.886761639179895e-06, + "chamfer": 5.627014161291299e-06, + "track": 1.2597473642017576e-06, + "acceleration": 1.4609969412049395e-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": 7.6183259807294235e-06, + "observation_loss": 7.337191163969692e-06, + "chamfer": 5.939744369243272e-06, + "track": 1.3974467947264202e-06, + "acceleration": 2.8113464622947504e-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": 7.83646828494966e-06, + "observation_loss": 7.5544166975305416e-06, + "chamfer": 6.089225735195214e-06, + "track": 1.4651909623353276e-06, + "acceleration": 2.8205187163621304e-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": 7.774727237119805e-06, + "observation_loss": 7.589514098071959e-06, + "chamfer": 6.1260961956577376e-06, + "track": 1.4634176750405459e-06, + "acceleration": 1.8521329536724807e-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": 7.836584700271487e-06, + "observation_loss": 7.432916845573345e-06, + "chamfer": 6.020265573170036e-06, + "track": 1.4126513860901468e-06, + "acceleration": 4.036679115415609e-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": 7.444754828611622e-06, + "observation_loss": 7.230289611470653e-06, + "chamfer": 5.876647719560424e-06, + "track": 1.3536417782233912e-06, + "acceleration": 2.1446530240609718e-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": 7.157369054766605e-06, + "observation_loss": 7.095548880897695e-06, + "chamfer": 5.782021617051214e-06, + "track": 1.313527377533319e-06, + "acceleration": 6.182034439916606e-08, + "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": 7.1364979703503195e-06, + "observation_loss": 7.09510004526237e-06, + "chamfer": 5.787454028904904e-06, + "track": 1.3076461300443043e-06, + "acceleration": 4.139802101121859e-08, + "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": 7.280803856701823e-06, + "observation_loss": 7.21008154869196e-06, + "chamfer": 5.883728135813726e-06, + "track": 1.3263535265650717e-06, + "acceleration": 7.07223080098629e-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": 7.571904916403582e-06, + "observation_loss": 7.4767658588825725e-06, + "chamfer": 6.080641924199881e-06, + "track": 1.3961239346826915e-06, + "acceleration": 9.513902909930039e-08, + "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": 7.795091732987203e-06, + "observation_loss": 7.704746167291887e-06, + "chamfer": 6.249930720514385e-06, + "track": 1.4548153330906644e-06, + "acceleration": 9.034546621933259e-08, + "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": 8.208429790101945e-06, + "observation_loss": 8.039793101488613e-06, + "chamfer": 6.4903279053396545e-06, + "track": 1.5494650824621203e-06, + "acceleration": 1.686368733544441e-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": 8.368027010874357e-06, + "observation_loss": 8.311649253300857e-06, + "chamfer": 6.678258614556398e-06, + "track": 1.6333909798049717e-06, + "acceleration": 5.637791744561582e-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": 8.695838914718479e-06, + "observation_loss": 8.344867637788411e-06, + "chamfer": 6.699260211462388e-06, + "track": 1.6456070852655102e-06, + "acceleration": 3.5097116324322997e-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": 8.43260386318434e-06, + "observation_loss": 8.356269972864538e-06, + "chamfer": 6.723828846588731e-06, + "track": 1.6324408989021322e-06, + "acceleration": 7.633430243458861e-08, + "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": 8.718636308913119e-06, + "observation_loss": 8.564791642129421e-06, + "chamfer": 6.877560736029409e-06, + "track": 1.6872305650394992e-06, + "acceleration": 1.538442830906206e-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": 9.179494554700796e-06, + "observation_loss": 8.97217159945285e-06, + "chamfer": 7.1599770308239385e-06, + "track": 1.8121946823157487e-06, + "acceleration": 2.073230547239291e-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": 9.413058251084294e-06, + "observation_loss": 9.280358426622115e-06, + "chamfer": 7.369380000454839e-06, + "track": 1.910977971419925e-06, + "acceleration": 1.326999239381621e-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": 9.533900083624758e-06, + "observation_loss": 9.4166007329477e-06, + "chamfer": 7.445897608704399e-06, + "track": 1.970702896869625e-06, + "acceleration": 1.1729940752047696e-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": 9.657806003815494e-06, + "observation_loss": 9.579174729879014e-06, + "chamfer": 7.546664164692629e-06, + "track": 2.032510110439034e-06, + "acceleration": 7.863149420472837e-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": 9.680172297521494e-06, + "observation_loss": 9.590446097718086e-06, + "chamfer": 7.551525868620956e-06, + "track": 2.0389202290971298e-06, + "acceleration": 8.972602927315165e-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": 9.623555342841428e-06, + "observation_loss": 9.544157364871353e-06, + "chamfer": 7.517801805079216e-06, + "track": 2.026355105044786e-06, + "acceleration": 7.939788559951921e-08, + "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": 9.65702383837197e-06, + "observation_loss": 9.467721611144952e-06, + "chamfer": 7.462478151865071e-06, + "track": 2.0052439140272327e-06, + "acceleration": 1.8930225564872671e-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": 9.847207365965005e-06, + "observation_loss": 9.722777576826047e-06, + "chamfer": 7.630514119227882e-06, + "track": 2.0922634575981647e-06, + "acceleration": 1.2443007335605216e-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": 1.0298199413227849e-05, + "observation_loss": 1.0224443940387573e-05, + "chamfer": 7.941716830828227e-06, + "track": 2.2827273369330214e-06, + "acceleration": 7.375516020147188e-08, + "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": 1.0885376468650065e-05, + "observation_loss": 1.0642140296113212e-05, + "chamfer": 8.216858986997977e-06, + "track": 2.4252810817415593e-06, + "acceleration": 2.4323594516317826e-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": 1.0569175174168777e-05, + "observation_loss": 1.0462486898177303e-05, + "chamfer": 8.10611072665779e-06, + "track": 2.356376626266865e-06, + "acceleration": 1.0668864547369594e-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": 1.0244508303003386e-05, + "observation_loss": 1.0102056876348797e-05, + "chamfer": 7.880945304350462e-06, + "track": 2.22111134462466e-06, + "acceleration": 1.4245172508253745e-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": 9.88541250990238e-06, + "observation_loss": 9.839348422246985e-06, + "chamfer": 7.703360097366385e-06, + "track": 2.1359885522542754e-06, + "acceleration": 4.606387093986086e-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": 9.680617040430661e-06, + "observation_loss": 9.618366675567813e-06, + "chamfer": 7.542510502389632e-06, + "track": 2.075856173178181e-06, + "acceleration": 6.225076987220746e-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": 9.696105735201854e-06, + "observation_loss": 9.631376997276675e-06, + "chamfer": 7.5382877184893005e-06, + "track": 2.09308950616105e-06, + "acceleration": 6.472902924770096e-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": 9.778837920748629e-06, + "observation_loss": 9.689485523267649e-06, + "chamfer": 7.569366061943583e-06, + "track": 2.1201196886977414e-06, + "acceleration": 8.93528095957663e-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": 9.737176696944516e-06, + "observation_loss": 9.671438419900369e-06, + "chamfer": 7.551654107373906e-06, + "track": 2.119784539900138e-06, + "acceleration": 6.573809940846331e-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": 9.794201105250977e-06, + "observation_loss": 9.675764886196703e-06, + "chamfer": 7.528507012466434e-06, + "track": 2.1472578737302683e-06, + "acceleration": 1.1843586378290638e-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": 9.916205272020306e-06, + "observation_loss": 9.692297680885531e-06, + "chamfer": 7.530762559326831e-06, + "track": 2.161534666811349e-06, + "acceleration": 2.2390734955024527e-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": 1.0226166523352731e-05, + "observation_loss": 9.753073754836805e-06, + "chamfer": 7.543107130913995e-06, + "track": 2.2099668512964854e-06, + "acceleration": 4.7309268325079756e-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": 1.0434125215397216e-05, + "observation_loss": 9.801521628105547e-06, + "chamfer": 7.567888133053202e-06, + "track": 2.233633495052345e-06, + "acceleration": 6.326039851956011e-07, + "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": 1.0065319656860083e-05, + "observation_loss": 9.78762636805186e-06, + "chamfer": 7.551867383881472e-06, + "track": 2.2357589841703884e-06, + "acceleration": 2.776930614345474e-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": 9.96937342279125e-06, + "observation_loss": 9.873670933302492e-06, + "chamfer": 7.617123173986329e-06, + "track": 2.2565475319424877e-06, + "acceleration": 9.570283765469867e-08, + "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": 1.0038262189482339e-05, + "observation_loss": 9.960856914403848e-06, + "chamfer": 7.67448091210099e-06, + "track": 2.28637645705021e-06, + "acceleration": 7.740516849708001e-08, + "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": 1.0208716048509814e-05, + "observation_loss": 1.0127941095561255e-05, + "chamfer": 7.777686732879374e-06, + "track": 2.3502543626818806e-06, + "acceleration": 8.0774931632277e-08, + "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": 1.017076829157304e-05, + "observation_loss": 1.008962317428086e-05, + "chamfer": 7.748684765829239e-06, + "track": 2.340938181077945e-06, + "acceleration": 8.114506755418915e-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": 1.0195338290941436e-05, + "observation_loss": 1.0030207704403438e-05, + "chamfer": 7.691788596275728e-06, + "track": 2.3384186533803586e-06, + "acceleration": 1.6513017442321143e-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": 1.0046121133200359e-05, + "observation_loss": 9.951821994036436e-06, + "chamfer": 7.600627668580273e-06, + "track": 2.351194780203514e-06, + "acceleration": 9.429956548956397e-08, + "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": 9.921268429025076e-06, + "observation_loss": 9.844120540947188e-06, + "chamfer": 7.500499123125337e-06, + "track": 2.343621190448175e-06, + "acceleration": 7.714767491506791e-08, + "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": 9.925731319526676e-06, + "observation_loss": 9.715326086734422e-06, + "chamfer": 7.417806955345441e-06, + "track": 2.2975193587626563e-06, + "acceleration": 2.1040497699686966e-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": 1.0084246241603978e-05, + "observation_loss": 9.5743962447159e-06, + "chamfer": 7.348407962126657e-06, + "track": 2.2259880552155664e-06, + "acceleration": 5.098499400446599e-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": 9.81762059382163e-06, + "observation_loss": 9.550552022119518e-06, + "chamfer": 7.336543148994679e-06, + "track": 2.214009100498515e-06, + "acceleration": 2.6706896960604354e-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": 9.806412890611682e-06, + "observation_loss": 9.589107321517076e-06, + "chamfer": 7.37836808184511e-06, + "track": 2.2107394670456415e-06, + "acceleration": 2.173056259380246e-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": 9.938894436345436e-06, + "observation_loss": 9.70317250903463e-06, + "chamfer": 7.460113465640461e-06, + "track": 2.2430588160204934e-06, + "acceleration": 2.3572152940687374e-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": 9.94527272268897e-06, + "observation_loss": 9.863766536000185e-06, + "chamfer": 7.563519830000587e-06, + "track": 2.300246251252247e-06, + "acceleration": 8.150629327019487e-08, + "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": 1.0090740943269338e-05, + "observation_loss": 1.0060045497084502e-05, + "chamfer": 7.682741852477193e-06, + "track": 2.377303417233634e-06, + "acceleration": 3.069574461278535e-08, + "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": 1.0244681106996723e-05, + "observation_loss": 1.0212565030087717e-05, + "chamfer": 7.746502888039686e-06, + "track": 2.4660619146743556e-06, + "acceleration": 3.211640375866409e-08, + "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": 1.0482277502887882e-05, + "observation_loss": 1.038994287227979e-05, + "chamfer": 7.822746738384012e-06, + "track": 2.567196133895777e-06, + "acceleration": 9.233469455693921e-08, + "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": 1.0877311069634743e-05, + "observation_loss": 1.0723064406192861e-05, + "chamfer": 7.987114258867223e-06, + "track": 2.7359499199519632e-06, + "acceleration": 1.542469050264117e-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": 1.1225282833038364e-05, + "observation_loss": 1.1071468179579824e-05, + "chamfer": 8.171685294655617e-06, + "track": 2.8997833396715578e-06, + "acceleration": 1.5381469609110354e-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": 1.1448166333138943e-05, + "observation_loss": 1.1362697478034534e-05, + "chamfer": 8.329084266733844e-06, + "track": 3.033612756553339e-06, + "acceleration": 8.546915353235818e-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": 1.1668617844406981e-05, + "observation_loss": 1.155235349870054e-05, + "chamfer": 8.420121048402507e-06, + "track": 3.132232222924358e-06, + "acceleration": 1.1626431728473108e-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": 1.1970777450187597e-05, + "observation_loss": 1.1873369658133015e-05, + "chamfer": 8.612431884102989e-06, + "track": 3.2609375466563506e-06, + "acceleration": 9.740756468090694e-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": 1.2407559552229941e-05, + "observation_loss": 1.2218835763633251e-05, + "chamfer": 8.79903745953925e-06, + "track": 3.4197983040940017e-06, + "acceleration": 1.887238880726727e-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": 1.2487220374168828e-05, + "observation_loss": 1.2429374692146666e-05, + "chamfer": 8.902328772819601e-06, + "track": 3.5270463740744162e-06, + "acceleration": 5.7845259249234005e-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": 1.2607103599293623e-05, + "observation_loss": 1.2529168088803999e-05, + "chamfer": 8.945966328610666e-06, + "track": 3.583202214940684e-06, + "acceleration": 7.79357449687268e-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": 1.2678401617449708e-05, + "observation_loss": 1.2611528291017748e-05, + "chamfer": 8.993585652206093e-06, + "track": 3.6179421840643045e-06, + "acceleration": 6.68736390707636e-08, + "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": 1.2689582945313305e-05, + "observation_loss": 1.2640517525142059e-05, + "chamfer": 8.988566150947008e-06, + "track": 3.6519518289424013e-06, + "acceleration": 4.9065324247976605e-08, + "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": 1.2718483048956841e-05, + "observation_loss": 1.2664511814364232e-05, + "chamfer": 8.978382538771257e-06, + "track": 3.6861292755929753e-06, + "acceleration": 5.3970801161540294e-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": 1.2797298950317781e-05, + "observation_loss": 1.266512663278263e-05, + "chamfer": 8.985534805105999e-06, + "track": 3.679591600302956e-06, + "acceleration": 1.3217193384207349e-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": 1.2731326023640577e-05, + "observation_loss": 1.2620207598956767e-05, + "chamfer": 8.964517292042729e-06, + "track": 3.655690306914039e-06, + "acceleration": 1.1111866626833944e-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": 1.2591669474204537e-05, + "observation_loss": 1.25702590594301e-05, + "chamfer": 8.927286216930952e-06, + "track": 3.642973297246499e-06, + "acceleration": 2.1410771822161223e-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": 1.2589111975103151e-05, + "observation_loss": 1.253208756679669e-05, + "chamfer": 8.892544428817928e-06, + "track": 3.6395426832314115e-06, + "acceleration": 5.702439409560611e-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": 1.2579376743815374e-05, + "observation_loss": 1.2482598322094418e-05, + "chamfer": 8.85347617440857e-06, + "track": 3.6291223750595236e-06, + "acceleration": 9.677832935039987e-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": 1.2461457117751706e-05, + "observation_loss": 1.2373442586977035e-05, + "chamfer": 8.794634595687967e-06, + "track": 3.578807536541717e-06, + "acceleration": 8.801451656381687e-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": 1.2190454981464427e-05, + "observation_loss": 1.2145012078690343e-05, + "chamfer": 8.6713798737037e-06, + "track": 3.4736324323603185e-06, + "acceleration": 4.5442970275644257e-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": 1.0074408303732222e-05, + "chamfer_mean": 6.9530131980855e-06, + "track_mean": 2.0575656118163956e-06, + "acceleration_mean": 1.0638294656676688e-06, + "observation_score": 9.010578840692082e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4298549009999988 + }, + "score_arrays_file": "pass_scores/pass_end_0086.npz", + "score_arrays_sha256": "510e6676fd6633efb102660b66caee34fb51ca7fbf93206c88a5c1329591e2be" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0087.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0087.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed989c897aadbdb547d9324a8ebbe8b4b5d32b8 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0087.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8352, + "completed_passes": 87, + "snapshot": "pass_end_0087", + "candidate": true, + "snapshot_arrays_sha256": "a576c8bd3e5252e1641611cbd6e1b24b01b1c04b2aec709769c540e597787c91", + "score": 9.001346555237433e-06, + "score_result": { + "score": 9.001346555237433e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.034109340660507e-06, + 3.4306485758861527e-06, + 4.0254594750877e-06, + 5.225246241025161e-06, + 6.211534582689637e-06, + 6.6895122472487856e-06, + 6.543516974488739e-06, + 6.147882231744006e-06, + 5.907208105782047e-06, + 5.950585546088405e-06, + 6.269371624512132e-06, + 6.556846983585274e-06, + 6.8341805672389455e-06, + 7.0952714850136545e-06, + 7.302503036044072e-06, + 7.539524176536361e-06, + 7.479085979866795e-06, + 7.186409220594214e-06, + 7.014382845227374e-06, + 7.00195641911705e-06, + 7.046720384096261e-06, + 6.939309514564229e-06, + 6.6671987042354885e-06, + 6.554284027515678e-06, + 6.8547437876986805e-06, + 7.303942766156979e-06, + 7.522773557866458e-06, + 7.559474397567101e-06, + 7.404234111163532e-06, + 7.2038674261420965e-06, + 7.070575520629063e-06, + 7.071614618325839e-06, + 7.18851561032352e-06, + 7.458058462361805e-06, + 7.686637218284886e-06, + 8.02330941951368e-06, + 8.297542080981657e-06, + 8.331984645337798e-06, + 8.342318324139342e-06, + 8.549779522581957e-06, + 8.95683842827566e-06, + 9.26521261135349e-06, + 9.401509487361182e-06, + 9.564550964569207e-06, + 9.577437594998628e-06, + 9.531380783300847e-06, + 9.455842700845096e-06, + 9.712563041830435e-06, + 1.0215328984486405e-05, + 1.0633692909323145e-05, + 1.0454648872837424e-05, + 1.0094858225784265e-05, + 9.83156405709451e-06, + 9.610316737962421e-06, + 9.623786354495678e-06, + 9.682325980975293e-06, + 9.665217476140242e-06, + 9.6673502412159e-06, + 9.683774806035217e-06, + 9.74579143075971e-06, + 9.795076039154083e-06, + 9.783649147721007e-06, + 9.873427188722417e-06, + 9.962924195860978e-06, + 1.0130966074939352e-05, + 1.0096090591105167e-05, + 1.003812394628767e-05, + 9.959516319213435e-06, + 9.853294614003971e-06, + 9.723464245325886e-06, + 9.581652193446644e-06, + 9.558960300637409e-06, + 9.593755748937838e-06, + 9.704596777737606e-06, + 9.863329069048632e-06, + 1.005757167149568e-05, + 1.0207611921941862e-05, + 1.0384795132267755e-05, + 1.0719094461819623e-05, + 1.107062962546479e-05, + 1.1363556950527709e-05, + 1.1552764590305742e-05, + 1.187170983030228e-05, + 1.2218901247251779e-05, + 1.2429398339008912e-05, + 1.2529613741207868e-05, + 1.2611084457603283e-05, + 1.264085676666582e-05, + 1.266472099814564e-05, + 1.2665487702179234e-05, + 1.2620616871572565e-05, + 1.2570586477522738e-05, + 1.253205664397683e-05, + 1.2482579222705681e-05, + 1.237418382515898e-05, + 1.2146510925958864e-05 + ] + ], + "episode_mean_losses": [ + 9.001346555237433e-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": 3.034109340660507e-06, + "observation_loss": 3.034109340660507e-06, + "chamfer": 2.5721035399328684e-06, + "track": 4.62005772305929e-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": 4.863386129727587e-05, + "observation_loss": 3.4306485758861527e-06, + "chamfer": 2.900251729442971e-06, + "track": 5.303969601300196e-07, + "acceleration": 4.5203210902400315e-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": 2.9482573154382408e-05, + "observation_loss": 4.0254594750877e-06, + "chamfer": 3.3848898510768777e-06, + "track": 6.405697376976605e-07, + "acceleration": 2.5457113224547356e-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": 1.4721169463882688e-05, + "observation_loss": 5.225246241025161e-06, + "chamfer": 4.3002519305446185e-06, + "track": 9.249944241673802e-07, + "acceleration": 9.495923222857527e-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": 1.0830533028638456e-05, + "observation_loss": 6.211534582689637e-06, + "chamfer": 4.978800461685751e-06, + "track": 1.2327341210038867e-06, + "acceleration": 4.618998445948819e-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": 8.065444490057416e-06, + "observation_loss": 6.6895122472487856e-06, + "chamfer": 5.280278401187388e-06, + "track": 1.4092338460613973e-06, + "acceleration": 1.3759324701823061e-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": 8.457107469439507e-06, + "observation_loss": 6.543516974488739e-06, + "chamfer": 5.16428190167062e-06, + "track": 1.3792348454444436e-06, + "acceleration": 1.9135904949507676e-06, + "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": 7.29644852981437e-06, + "observation_loss": 6.147882231744006e-06, + "chamfer": 4.891079242952401e-06, + "track": 1.25680276141793e-06, + "acceleration": 1.1485660706966883e-06, + "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": 6.529469374072505e-06, + "observation_loss": 5.907208105782047e-06, + "chamfer": 4.725174221675843e-06, + "track": 1.1820341114798794e-06, + "acceleration": 6.222612682904582e-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": 6.226062851055758e-06, + "observation_loss": 5.950585546088405e-06, + "chamfer": 4.771911790157901e-06, + "track": 1.1786739833041793e-06, + "acceleration": 2.754771912805154e-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": 6.399478024832206e-06, + "observation_loss": 6.269371624512132e-06, + "chamfer": 5.0312664825469255e-06, + "track": 1.2381053693388822e-06, + "acceleration": 1.3010647137434717e-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": 6.661800398433115e-06, + "observation_loss": 6.556846983585274e-06, + "chamfer": 5.2635950851254165e-06, + "track": 1.2932518984598573e-06, + "acceleration": 1.0495358537809807e-07, + "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": 6.862632289994508e-06, + "observation_loss": 6.8341805672389455e-06, + "chamfer": 5.506480192707386e-06, + "track": 1.327700260844722e-06, + "acceleration": 2.845153090902386e-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": 7.189873485913267e-06, + "observation_loss": 7.0952714850136545e-06, + "chamfer": 5.733659691031789e-06, + "track": 1.3616116802950273e-06, + "acceleration": 9.460197247790347e-08, + "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": 7.333266239584191e-06, + "observation_loss": 7.302503036044072e-06, + "chamfer": 5.915768269915134e-06, + "track": 1.3867348798157764e-06, + "acceleration": 3.0763072089712296e-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": 7.6089413596491795e-06, + "observation_loss": 7.539524176536361e-06, + "chamfer": 6.112938081059838e-06, + "track": 1.426586095476523e-06, + "acceleration": 6.941717600739139e-08, + "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": 7.63331900088815e-06, + "observation_loss": 7.479085979866795e-06, + "chamfer": 6.070501058275113e-06, + "track": 1.4085849215916824e-06, + "acceleration": 1.5423330523844925e-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": 7.400130471069133e-06, + "observation_loss": 7.186409220594214e-06, + "chamfer": 5.855073595739668e-06, + "track": 1.3313355111677083e-06, + "acceleration": 2.137212220532092e-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": 7.10751419319422e-06, + "observation_loss": 7.014382845227374e-06, + "chamfer": 5.736772891395958e-06, + "track": 1.277609840144578e-06, + "acceleration": 9.313138349398287e-08, + "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": 7.1129106800071895e-06, + "observation_loss": 7.00195641911705e-06, + "chamfer": 5.728671567339916e-06, + "track": 1.2732849654639722e-06, + "acceleration": 1.1095442431496849e-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": 7.22215736459475e-06, + "observation_loss": 7.046720384096261e-06, + "chamfer": 5.7591851145843975e-06, + "track": 1.2875350421381881e-06, + "acceleration": 1.7543713681789086e-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": 7.074813765939325e-06, + "observation_loss": 6.939309514564229e-06, + "chamfer": 5.685382802766981e-06, + "track": 1.2539268254840863e-06, + "acceleration": 1.3550409505569405e-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": 6.831066002632724e-06, + "observation_loss": 6.6671987042354885e-06, + "chamfer": 5.487769612955162e-06, + "track": 1.1794289775934885e-06, + "acceleration": 1.6386729839723557e-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": 6.690228019579081e-06, + "observation_loss": 6.554284027515678e-06, + "chamfer": 5.394289473770186e-06, + "track": 1.1599946674323292e-06, + "acceleration": 1.359438641657107e-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": 6.9991115196899045e-06, + "observation_loss": 6.8547437876986805e-06, + "chamfer": 5.603527824860066e-06, + "track": 1.2512159628386144e-06, + "acceleration": 1.4436781725635228e-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": 7.584705599583685e-06, + "observation_loss": 7.303942766156979e-06, + "chamfer": 5.9160693126614206e-06, + "track": 1.3878733398087206e-06, + "acceleration": 2.807630039569631e-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": 7.805281711625867e-06, + "observation_loss": 7.522773557866458e-06, + "chamfer": 6.066609785193577e-06, + "track": 1.4561637726728804e-06, + "acceleration": 2.8250798322915216e-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": 7.744415597699117e-06, + "observation_loss": 7.559474397567101e-06, + "chamfer": 6.104337899159873e-06, + "track": 1.455136498407228e-06, + "acceleration": 1.8494088749321236e-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": 7.807186193531379e-06, + "observation_loss": 7.404234111163532e-06, + "chamfer": 5.999183031235589e-06, + "track": 1.4050511936147814e-06, + "acceleration": 4.02951968681009e-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": 7.419275789288804e-06, + "observation_loss": 7.2038674261420965e-06, + "chamfer": 5.857141331944149e-06, + "track": 1.3467260941979475e-06, + "acceleration": 2.1540817840559612e-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": 7.132093287509633e-06, + "observation_loss": 7.070575520629063e-06, + "chamfer": 5.763263743574498e-06, + "track": 1.3073116633677273e-06, + "acceleration": 6.151758213945868e-08, + "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": 7.1150097937788814e-06, + "observation_loss": 7.071614618325839e-06, + "chamfer": 5.769710242020665e-06, + "track": 1.301904376305174e-06, + "acceleration": 4.3395079529773284e-08, + "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": 7.265608928719303e-06, + "observation_loss": 7.18851561032352e-06, + "chamfer": 5.867515938007273e-06, + "track": 1.3209995586294099e-06, + "acceleration": 7.709327576321812e-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": 7.5601324169838335e-06, + "observation_loss": 7.458058462361805e-06, + "chamfer": 6.066546120564453e-06, + "track": 1.3915124554841896e-06, + "acceleration": 1.0207380540805389e-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": 7.776688107696828e-06, + "observation_loss": 7.686637218284886e-06, + "chamfer": 6.23630830887123e-06, + "track": 1.4503291367873317e-06, + "acceleration": 9.005055545685536e-08, + "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": 8.187563253159169e-06, + "observation_loss": 8.02330941951368e-06, + "chamfer": 6.478100203821668e-06, + "track": 1.545209443065687e-06, + "acceleration": 1.6425421733856638e-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": 8.354103556484915e-06, + "observation_loss": 8.297542080981657e-06, + "chamfer": 6.667918569291942e-06, + "track": 1.6296238527502283e-06, + "acceleration": 5.6561685113365456e-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": 8.682625775691122e-06, + "observation_loss": 8.331984645337798e-06, + "chamfer": 6.690059308311902e-06, + "track": 1.6419253370258957e-06, + "acceleration": 3.506414714138373e-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": 8.419926416536327e-06, + "observation_loss": 8.342318324139342e-06, + "chamfer": 6.713965831295354e-06, + "track": 1.6283520380966365e-06, + "acceleration": 7.76080497644216e-08, + "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": 8.70691474119667e-06, + "observation_loss": 8.549779522581957e-06, + "chamfer": 6.867185220471583e-06, + "track": 1.682593847363023e-06, + "acceleration": 1.5713492018676334e-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": 9.164704351860564e-06, + "observation_loss": 8.95683842827566e-06, + "chamfer": 7.149500561354216e-06, + "track": 1.8073382079819567e-06, + "acceleration": 2.0786605148259696e-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": 9.3991075118538e-06, + "observation_loss": 9.26521261135349e-06, + "chamfer": 7.359008122875821e-06, + "track": 1.9062042611039942e-06, + "acceleration": 1.338951705065483e-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": 9.518950719211716e-06, + "observation_loss": 9.401509487361182e-06, + "chamfer": 7.435596216964768e-06, + "track": 1.9659132703964133e-06, + "acceleration": 1.1744123895596204e-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": 9.641734322940465e-06, + "observation_loss": 9.564550964569207e-06, + "chamfer": 7.536682460340671e-06, + "track": 2.0278682768548606e-06, + "acceleration": 7.718339389839457e-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": 9.666247024142649e-06, + "observation_loss": 9.577437594998628e-06, + "chamfer": 7.542778348579304e-06, + "track": 2.0346587916719727e-06, + "acceleration": 8.880962099055978e-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": 9.610368579160422e-06, + "observation_loss": 9.531380783300847e-06, + "chamfer": 7.5091970757057425e-06, + "track": 2.0221832528477535e-06, + "acceleration": 7.89875898021819e-08, + "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": 9.644939382269513e-06, + "observation_loss": 9.455842700845096e-06, + "chamfer": 7.454376827809028e-06, + "track": 2.001465873036068e-06, + "acceleration": 1.8909707932834863e-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": 9.837189281824976e-06, + "observation_loss": 9.712563041830435e-06, + "chamfer": 7.6237488428887445e-06, + "track": 2.088814198941691e-06, + "acceleration": 1.2462658105505398e-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": 1.0289349120284896e-05, + "observation_loss": 1.0215328984486405e-05, + "chamfer": 7.935794201330282e-06, + "track": 2.2795350105297985e-06, + "acceleration": 7.402010027135475e-08, + "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": 1.087713008018909e-05, + "observation_loss": 1.0633692909323145e-05, + "chamfer": 8.211457497964147e-06, + "track": 2.4222354113589972e-06, + "acceleration": 2.4343700033568894e-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": 1.0562524039414711e-05, + "observation_loss": 1.0454648872837424e-05, + "chamfer": 8.100905688479543e-06, + "track": 2.353743411731557e-06, + "acceleration": 1.0787543658352661e-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": 1.0237592505291104e-05, + "observation_loss": 1.0094858225784265e-05, + "chamfer": 7.87628141551977e-06, + "track": 2.218577265011845e-06, + "acceleration": 1.427338958137625e-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": 9.877011507342104e-06, + "observation_loss": 9.83156405709451e-06, + "chamfer": 7.698322406213265e-06, + "track": 2.133241878254921e-06, + "acceleration": 4.544731524447343e-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": 9.671855877968483e-06, + "observation_loss": 9.610316737962421e-06, + "chamfer": 7.5373222898633685e-06, + "track": 2.072994675472728e-06, + "acceleration": 6.153870657499283e-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": 9.68723907135427e-06, + "observation_loss": 9.623786354495678e-06, + "chamfer": 7.533587904617889e-06, + "track": 2.090198222504114e-06, + "acceleration": 6.345309344624184e-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": 9.77068702923134e-06, + "observation_loss": 9.682325980975293e-06, + "chamfer": 7.565004580101231e-06, + "track": 2.117321173500386e-06, + "acceleration": 8.836099141262821e-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": 9.730767487781122e-06, + "observation_loss": 9.665217476140242e-06, + "chamfer": 7.547876975877443e-06, + "track": 2.1173402728891233e-06, + "acceleration": 6.555040243938492e-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": 9.787863746169023e-06, + "observation_loss": 9.6673502412159e-06, + "chamfer": 7.523185558966361e-06, + "track": 2.1441646822495386e-06, + "acceleration": 1.205135760073972e-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": 9.909724212775473e-06, + "observation_loss": 9.683774806035217e-06, + "chamfer": 7.5255588853906374e-06, + "track": 2.158216148018255e-06, + "acceleration": 2.2594933568598208e-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": 1.0222453056485392e-05, + "observation_loss": 9.74579143075971e-06, + "chamfer": 7.53882113713189e-06, + "track": 2.2069700662541436e-06, + "acceleration": 4.7666117097833194e-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": 1.0429969734104816e-05, + "observation_loss": 9.795076039154083e-06, + "chamfer": 7.564242878288496e-06, + "track": 2.230833615612937e-06, + "acceleration": 6.348933538902202e-07, + "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": 1.0063626177725382e-05, + "observation_loss": 9.783649147721007e-06, + "chamfer": 7.5500911407289095e-06, + "track": 2.233558461739449e-06, + "acceleration": 2.79977314221469e-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": 9.969567145162728e-06, + "observation_loss": 9.873427188722417e-06, + "chamfer": 7.617935807502363e-06, + "track": 2.2554916085937293e-06, + "acceleration": 9.613989959689206e-08, + "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": 1.003833949653199e-05, + "observation_loss": 9.962924195860978e-06, + "chamfer": 7.676628229091875e-06, + "track": 2.286295966769103e-06, + "acceleration": 7.541519408960085e-08, + "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": 1.021036587189883e-05, + "observation_loss": 1.0130966074939352e-05, + "chamfer": 7.780437044857536e-06, + "track": 2.3505288027081406e-06, + "acceleration": 7.939991064631613e-08, + "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": 1.0177258445764892e-05, + "observation_loss": 1.0096090591105167e-05, + "chamfer": 7.753546924504917e-06, + "track": 2.3425434392265743e-06, + "acceleration": 8.116830940707587e-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": 1.0202589692198671e-05, + "observation_loss": 1.003812394628767e-05, + "chamfer": 7.69760208640946e-06, + "track": 2.3405218598782085e-06, + "acceleration": 1.6446608697151532e-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": 1.0053622645500582e-05, + "observation_loss": 9.959516319213435e-06, + "chamfer": 7.606164672324667e-06, + "track": 2.3533518742624437e-06, + "acceleration": 9.410622681116365e-08, + "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": 9.929712177836336e-06, + "observation_loss": 9.853294614003971e-06, + "chamfer": 7.506993370043347e-06, + "track": 2.3463007892132737e-06, + "acceleration": 7.641747856723669e-08, + "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": 9.93470530374907e-06, + "observation_loss": 9.723464245325886e-06, + "chamfer": 7.423877377732424e-06, + "track": 2.2995868675934616e-06, + "acceleration": 2.1124060367583297e-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": 1.008872550301021e-05, + "observation_loss": 9.581652193446644e-06, + "chamfer": 7.353670753218466e-06, + "track": 2.2279809854808263e-06, + "acceleration": 5.070734232504037e-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": 9.826640052779112e-06, + "observation_loss": 9.558960300637409e-06, + "chamfer": 7.3424075708317105e-06, + "track": 2.2165527298056986e-06, + "acceleration": 2.6767949634631805e-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": 9.80732511379756e-06, + "observation_loss": 9.593755748937838e-06, + "chamfer": 7.381550403806614e-06, + "track": 2.2122055725048995e-06, + "acceleration": 2.1356963486596214e-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": 9.933927685779054e-06, + "observation_loss": 9.704596777737606e-06, + "chamfer": 7.461199857061729e-06, + "track": 2.2433969206758775e-06, + "acceleration": 2.2933105014999455e-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": 9.944282282958739e-06, + "observation_loss": 9.863329069048632e-06, + "chamfer": 7.563583949377062e-06, + "track": 2.29974511967157e-06, + "acceleration": 8.095323522638864e-08, + "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": 1.0088718227052595e-05, + "observation_loss": 1.005757167149568e-05, + "chamfer": 7.681454007979482e-06, + "track": 2.376117436142522e-06, + "acceleration": 3.1146360157663366e-08, + "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": 1.0240220944979228e-05, + "observation_loss": 1.0207611921941862e-05, + "chamfer": 7.74386353441514e-06, + "track": 2.46374793277937e-06, + "acceleration": 3.260874592569962e-08, + "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": 1.0478376680111978e-05, + "observation_loss": 1.0384795132267755e-05, + "chamfer": 7.820389328117017e-06, + "track": 2.5644055767770624e-06, + "acceleration": 9.358115704571901e-08, + "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": 1.0874887266254518e-05, + "observation_loss": 1.0719094461819623e-05, + "chamfer": 7.98504061094718e-06, + "track": 2.7340536234987667e-06, + "acceleration": 1.5579273338062194e-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": 1.1225592061236966e-05, + "observation_loss": 1.107062962546479e-05, + "chamfer": 8.170977707777638e-06, + "track": 2.899652145060827e-06, + "acceleration": 1.5496270577841642e-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": 1.1452642866061069e-05, + "observation_loss": 1.1363556950527709e-05, + "chamfer": 8.329317097377498e-06, + "track": 3.0342400805238867e-06, + "acceleration": 8.908575210853087e-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": 1.1669526429614052e-05, + "observation_loss": 1.1552764590305742e-05, + "chamfer": 8.420011909038294e-06, + "track": 3.1327529086411232e-06, + "acceleration": 1.1676223010681497e-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": 1.1970244486292358e-05, + "observation_loss": 1.187170983030228e-05, + "chamfer": 8.611445082351565e-06, + "track": 3.2602649753243895e-06, + "acceleration": 9.853506810486579e-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": 1.2409758710418828e-05, + "observation_loss": 1.2218901247251779e-05, + "chamfer": 8.799257557257079e-06, + "track": 3.4196436899947003e-06, + "acceleration": 1.9085763369730557e-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": 1.2488586435210891e-05, + "observation_loss": 1.2429398339008912e-05, + "chamfer": 8.902742592908908e-06, + "track": 3.5266555187263293e-06, + "acceleration": 5.918826317952153e-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": 1.260857425222639e-05, + "observation_loss": 1.2529613741207868e-05, + "chamfer": 8.9469067461323e-06, + "track": 3.582707222449244e-06, + "acceleration": 7.896059628365037e-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": 1.2678858183789998e-05, + "observation_loss": 1.2611084457603283e-05, + "chamfer": 8.994013114715926e-06, + "track": 3.617071342887357e-06, + "acceleration": 6.777359118359527e-08, + "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": 1.2690383300650865e-05, + "observation_loss": 1.264085676666582e-05, + "chamfer": 8.989428351924289e-06, + "track": 3.6514281873678556e-06, + "acceleration": 4.95266689881646e-08, + "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": 1.2719296137220226e-05, + "observation_loss": 1.266472099814564e-05, + "chamfer": 8.978931873571128e-06, + "track": 3.6857893519481877e-06, + "acceleration": 5.4575572505655146e-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": 1.2799356227333192e-05, + "observation_loss": 1.2665487702179234e-05, + "chamfer": 8.986421562440228e-06, + "track": 3.6790659123653313e-06, + "acceleration": 1.3386890884703462e-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": 1.2734178199025337e-05, + "observation_loss": 1.2620616871572565e-05, + "chamfer": 8.965458619059063e-06, + "track": 3.6551580251398263e-06, + "acceleration": 1.1356176798926754e-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": 1.2593206520250533e-05, + "observation_loss": 1.2570586477522738e-05, + "chamfer": 8.92790558282286e-06, + "track": 3.6426811220735544e-06, + "acceleration": 2.2620316286747766e-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": 1.2589634025061969e-05, + "observation_loss": 1.253205664397683e-05, + "chamfer": 8.892719051800668e-06, + "track": 3.6393373648024863e-06, + "acceleration": 5.757755161539535e-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": 1.2579700523929205e-05, + "observation_loss": 1.2482579222705681e-05, + "chamfer": 8.853568033373449e-06, + "track": 3.6290109619585564e-06, + "acceleration": 9.712167781117387e-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": 1.2462427548598498e-05, + "observation_loss": 1.237418382515898e-05, + "chamfer": 8.795278517936822e-06, + "track": 3.5789053072221577e-06, + "acceleration": 8.824417108144189e-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": 1.2192319445603061e-05, + "observation_loss": 1.2146510925958864e-05, + "chamfer": 8.672396688780282e-06, + "track": 3.474114464552258e-06, + "acceleration": 4.580881096671874e-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": 1.0064897267625383e-05, + "chamfer_mean": 6.94656548224278e-06, + "track_mean": 2.054781064408928e-06, + "acceleration_mean": 1.063550724600404e-06, + "observation_score": 9.001346555237433e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4166756389986404 + }, + "score_arrays_file": "pass_scores/pass_end_0087.npz", + "score_arrays_sha256": "60c71e7685f4b9306cbe14c79aa418c3cc7d13bba7d25b374535321b0f01240b" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0088.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0088.json new file mode 100644 index 0000000000000000000000000000000000000000..c0bf987732c9e5165d3f81cb31c85cb4054c4b25 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0088.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8448, + "completed_passes": 88, + "snapshot": "pass_end_0088", + "candidate": true, + "snapshot_arrays_sha256": "63aaab597099bf361dc3cd910075e9a57c19062542cb77e5204f7513f30be642", + "score": 8.992754923535054e-06, + "score_result": { + "score": 8.992754923535054e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0312908165797126e-06, + 3.429413482081145e-06, + 4.0203121898230165e-06, + 5.214013981458265e-06, + 6.198278697411297e-06, + 6.678437330265297e-06, + 6.540397407661658e-06, + 6.147568001324544e-06, + 5.906638307351386e-06, + 5.944742042629514e-06, + 6.25823849986773e-06, + 6.548574219777947e-06, + 6.830453003203729e-06, + 7.0890391725697555e-06, + 7.288797860383056e-06, + 7.517581252614036e-06, + 7.4535150815790985e-06, + 7.1588838181924075e-06, + 6.986208518355852e-06, + 6.97391124049318e-06, + 7.018969427008415e-06, + 6.912835488037672e-06, + 6.642244443355594e-06, + 6.528519861603854e-06, + 6.826581739005633e-06, + 7.2745078796288e-06, + 7.4945937740267254e-06, + 7.533353709732182e-06, + 7.379951966868248e-06, + 7.181655746535398e-06, + 7.049296073091682e-06, + 7.051888132991735e-06, + 7.169872333179228e-06, + 7.440457011398394e-06, + 7.66923858463997e-06, + 8.007720680325292e-06, + 8.28338488645386e-06, + 8.319280823343433e-06, + 8.328299372806214e-06, + 8.5347191998153e-06, + 8.941600754042156e-06, + 9.249331924365833e-06, + 9.385009434481617e-06, + 9.548748494125903e-06, + 9.563405910739675e-06, + 9.517243597656488e-06, + 9.442983355256729e-06, + 9.701586350274738e-06, + 1.0206014849245548e-05, + 1.0625201866787393e-05, + 1.0445861335028894e-05, + 1.008683284453582e-05, + 9.823469554248732e-06, + 9.60210309131071e-06, + 9.616454917704687e-06, + 9.67559935816098e-06, + 9.659011084295344e-06, + 9.659791430749465e-06, + 9.676699846750125e-06, + 9.739728739077691e-06, + 9.79019114311086e-06, + 9.781724656932056e-06, + 9.874214811134152e-06, + 9.96726521407254e-06, + 1.0138179277419113e-05, + 1.0104457942361478e-05, + 1.0048538570117671e-05, + 9.969786333385855e-06, + 9.864625098998658e-06, + 9.734124432725366e-06, + 9.589805813448038e-06, + 9.566063454258256e-06, + 9.598208634997718e-06, + 9.706755918159615e-06, + 9.863011655397713e-06, + 1.0054314770968631e-05, + 1.020217860059347e-05, + 1.0378016668255441e-05, + 1.0712623407016508e-05, + 1.1067622835980728e-05, + 1.1364503734512255e-05, + 1.1552665455383249e-05, + 1.1869049558299594e-05, + 1.2217768926348072e-05, + 1.2428477930370718e-05, + 1.2528309525805525e-05, + 1.2609732948476449e-05, + 1.2641121429624036e-05, + 1.2664134374062996e-05, + 1.2664342648349702e-05, + 1.261958277609665e-05, + 1.2569444152177311e-05, + 1.2530808817245997e-05, + 1.2481745216064155e-05, + 1.2373519894026686e-05, + 1.214721123687923e-05 + ] + ], + "episode_mean_losses": [ + 8.992754923535054e-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": 3.0312908165797126e-06, + "observation_loss": 3.0312908165797126e-06, + "chamfer": 2.5697540877445135e-06, + "track": 4.6153667199178017e-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": 4.853893187828362e-05, + "observation_loss": 3.429413482081145e-06, + "chamfer": 2.8992410534556257e-06, + "track": 5.301724286255194e-07, + "acceleration": 4.5109518396202475e-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": 2.9433966119540855e-05, + "observation_loss": 4.0203121898230165e-06, + "chamfer": 3.380801445018733e-06, + "track": 6.395109153345402e-07, + "acceleration": 2.541365392971784e-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": 1.4682265828014351e-05, + "observation_loss": 5.214013981458265e-06, + "chamfer": 4.2919491534121335e-06, + "track": 9.220650554198073e-07, + "acceleration": 9.468251846556086e-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": 1.0793562978506088e-05, + "observation_loss": 6.198278697411297e-06, + "chamfer": 4.97016662848182e-06, + "track": 1.2281120689294767e-06, + "acceleration": 4.5952838263474405e-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": 8.057331797317602e-06, + "observation_loss": 6.678437330265297e-06, + "chamfer": 5.273206625133753e-06, + "track": 1.405230591444706e-06, + "acceleration": 1.3788946944259806e-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": 8.477276423946023e-06, + "observation_loss": 6.540397407661658e-06, + "chamfer": 5.162239176570438e-06, + "track": 1.3781584584648954e-06, + "acceleration": 1.9368785615370143e-06, + "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": 7.336584531003609e-06, + "observation_loss": 6.147568001324544e-06, + "chamfer": 4.890720447292551e-06, + "track": 1.2568474403451546e-06, + "acceleration": 1.1890166433659033e-06, + "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": 6.557736014656257e-06, + "observation_loss": 5.906638307351386e-06, + "chamfer": 4.7246753638319205e-06, + "track": 1.181962829832628e-06, + "acceleration": 6.51097593618033e-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": 6.225907327461755e-06, + "observation_loss": 5.944742042629514e-06, + "chamfer": 4.767963218910154e-06, + "track": 1.17677882371936e-06, + "acceleration": 2.81165085880275e-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": 6.389816917362623e-06, + "observation_loss": 6.25823849986773e-06, + "chamfer": 5.024028723710217e-06, + "track": 1.2342097761575133e-06, + "acceleration": 1.3157841749489307e-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": 6.652384854533011e-06, + "observation_loss": 6.548574219777947e-06, + "chamfer": 5.25811310581048e-06, + "track": 1.290461113967467e-06, + "acceleration": 1.0381059922792701e-07, + "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": 6.864266197226243e-06, + "observation_loss": 6.830453003203729e-06, + "chamfer": 5.5037062338669784e-06, + "track": 1.3267468830235885e-06, + "acceleration": 3.381329349849693e-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": 7.184969945228659e-06, + "observation_loss": 7.0890391725697555e-06, + "chamfer": 5.72870976611739e-06, + "track": 1.3603296338260407e-06, + "acceleration": 9.593092187287766e-08, + "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": 7.317861218325561e-06, + "observation_loss": 7.288797860383056e-06, + "chamfer": 5.905453235754976e-06, + "track": 1.3833448520017555e-06, + "acceleration": 2.90634432076331e-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": 7.5869679676543456e-06, + "observation_loss": 7.517581252614036e-06, + "chamfer": 6.096915058151353e-06, + "track": 1.4206664218363585e-06, + "acceleration": 6.938668661859992e-08, + "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": 7.610037300764816e-06, + "observation_loss": 7.4535150815790985e-06, + "chamfer": 6.052023309166543e-06, + "track": 1.4014916587257176e-06, + "acceleration": 1.5652237550511927e-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": 7.37553637009114e-06, + "observation_loss": 7.1588838181924075e-06, + "chamfer": 5.8352384257887024e-06, + "track": 1.3236452787168673e-06, + "acceleration": 2.166527650615535e-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": 7.082948741299333e-06, + "observation_loss": 6.986208518355852e-06, + "chamfer": 5.7164043028024025e-06, + "track": 1.2698041018666117e-06, + "acceleration": 9.674027268147256e-08, + "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": 7.088479378580814e-06, + "observation_loss": 6.97391124049318e-06, + "chamfer": 5.708258413505973e-06, + "track": 1.2656529406740447e-06, + "acceleration": 1.14568237563617e-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": 7.198674666142324e-06, + "observation_loss": 7.018969427008415e-06, + "chamfer": 5.739100288337795e-06, + "track": 1.2798690249837819e-06, + "acceleration": 1.7970516807963577e-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": 7.050807653286029e-06, + "observation_loss": 6.912835488037672e-06, + "chamfer": 5.6661415328562725e-06, + "track": 1.2466941825550748e-06, + "acceleration": 1.3797195208553603e-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": 6.806722012697719e-06, + "observation_loss": 6.642244443355594e-06, + "chamfer": 5.469251846079715e-06, + "track": 1.1729928246495547e-06, + "acceleration": 1.6447768302896293e-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": 6.664823104074458e-06, + "observation_loss": 6.528519861603854e-06, + "chamfer": 5.374921784095932e-06, + "track": 1.1535980775079224e-06, + "acceleration": 1.3630328510316758e-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": 6.9702014116046485e-06, + "observation_loss": 6.826581739005633e-06, + "chamfer": 5.582938683801331e-06, + "track": 1.2436431688911398e-06, + "acceleration": 1.4361955891217804e-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": 7.554070180049166e-06, + "observation_loss": 7.2745078796288e-06, + "chamfer": 5.895164122193819e-06, + "track": 1.3793438711218187e-06, + "acceleration": 2.7956232884207566e-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": 7.777128303132486e-06, + "observation_loss": 7.4945937740267254e-06, + "chamfer": 6.0465376918728e-06, + "track": 1.448055968467088e-06, + "acceleration": 2.825345575274696e-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": 7.718306733295321e-06, + "observation_loss": 7.533353709732182e-06, + "chamfer": 6.08546361036133e-06, + "track": 1.4478902130576898e-06, + "acceleration": 1.8495290987630142e-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": 7.782376087561715e-06, + "observation_loss": 7.379951966868248e-06, + "chamfer": 5.981400590826524e-06, + "track": 1.3985512623548857e-06, + "acceleration": 4.024239785849204e-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": 7.398108664347092e-06, + "observation_loss": 7.181655746535398e-06, + "chamfer": 5.840772701048991e-06, + "track": 1.340882818112732e-06, + "acceleration": 2.1645273307058233e-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": 7.110510523489211e-06, + "observation_loss": 7.049296073091682e-06, + "chamfer": 5.747291652369313e-06, + "track": 1.3020043070355314e-06, + "acceleration": 6.121428697269948e-08, + "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": 7.096935405570548e-06, + "observation_loss": 7.051888132991735e-06, + "chamfer": 5.754873654950643e-06, + "track": 1.2970142506674165e-06, + "acceleration": 4.504736850208246e-08, + "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": 7.25029485693085e-06, + "observation_loss": 7.169872333179228e-06, + "chamfer": 5.853463335370179e-06, + "track": 1.3164092251827242e-06, + "acceleration": 8.042265875474186e-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": 7.5444318099471275e-06, + "observation_loss": 7.440457011398394e-06, + "chamfer": 6.053271135897376e-06, + "track": 1.3871857618141803e-06, + "acceleration": 1.0397489091928946e-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": 7.758456376905087e-06, + "observation_loss": 7.66923858463997e-06, + "chamfer": 6.223198852239875e-06, + "track": 1.4460400734606083e-06, + "acceleration": 8.921784910853603e-08, + "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": 8.169617103703786e-06, + "observation_loss": 8.007720680325292e-06, + "chamfer": 6.466545073635643e-06, + "track": 1.5411758340633241e-06, + "acceleration": 1.6189598284199747e-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": 8.339484338648617e-06, + "observation_loss": 8.28338488645386e-06, + "chamfer": 6.657569429080468e-06, + "track": 1.6258154573733918e-06, + "acceleration": 5.6099025869116304e-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": 8.668365808262024e-06, + "observation_loss": 8.319280823343433e-06, + "chamfer": 6.680972546746489e-06, + "track": 1.638308162910107e-06, + "acceleration": 3.490848712317529e-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": 8.406386768911034e-06, + "observation_loss": 8.328299372806214e-06, + "chamfer": 6.704061433993047e-06, + "track": 1.6242382798736799e-06, + "acceleration": 7.808758795135873e-08, + "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": 8.693421477801166e-06, + "observation_loss": 8.5347191998153e-06, + "chamfer": 6.856711024738615e-06, + "track": 1.6780085161371971e-06, + "acceleration": 1.5870251957039727e-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": 9.150731784757227e-06, + "observation_loss": 8.941600754042156e-06, + "chamfer": 7.139100034692092e-06, + "track": 1.802501174097415e-06, + "acceleration": 2.091313433538744e-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": 9.383930773765314e-06, + "observation_loss": 9.249331924365833e-06, + "chamfer": 7.348075541813159e-06, + "track": 1.9012564962395118e-06, + "acceleration": 1.345985083389678e-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": 9.50290632317774e-06, + "observation_loss": 9.385009434481617e-06, + "chamfer": 7.424342584272381e-06, + "track": 1.9606670775829116e-06, + "acceleration": 1.1789690290697763e-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": 9.623795449442696e-06, + "observation_loss": 9.548748494125903e-06, + "chamfer": 7.525936325691873e-06, + "track": 2.022811941060354e-06, + "acceleration": 7.504664267798944e-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": 9.65077560977079e-06, + "observation_loss": 9.563405910739675e-06, + "chamfer": 7.533335519838147e-06, + "track": 2.0300706182752037e-06, + "acceleration": 8.736940770859292e-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": 9.595859410183039e-06, + "observation_loss": 9.517243597656488e-06, + "chamfer": 7.49970558899804e-06, + "track": 2.0175380086584482e-06, + "acceleration": 7.86158196319775e-08, + "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": 9.63254387897905e-06, + "observation_loss": 9.442983355256729e-06, + "chamfer": 7.445638402714394e-06, + "track": 1.9973454072896857e-06, + "acceleration": 1.895600689749699e-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": 9.825716915656812e-06, + "observation_loss": 9.701586350274738e-06, + "chamfer": 7.61645696911728e-06, + "track": 2.0851296085311333e-06, + "acceleration": 1.2413070749062172e-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": 1.0280258720740676e-05, + "observation_loss": 1.0206014849245548e-05, + "chamfer": 7.929689672891982e-06, + "track": 2.2763251763535663e-06, + "acceleration": 7.42439354439739e-08, + "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": 1.0868874596781097e-05, + "observation_loss": 1.0625201866787393e-05, + "chamfer": 8.205970516428351e-06, + "track": 2.419231122985366e-06, + "acceleration": 2.436727015719953e-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": 1.0554840628174134e-05, + "observation_loss": 1.0445861335028894e-05, + "chamfer": 8.09506673249416e-06, + "track": 2.3507946025347337e-06, + "acceleration": 1.0897956315147894e-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": 1.0230795851384755e-05, + "observation_loss": 1.008683284453582e-05, + "chamfer": 7.87105909694219e-06, + "track": 2.215774202340981e-06, + "acceleration": 1.4396263736671244e-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": 9.869107088888995e-06, + "observation_loss": 9.823469554248732e-06, + "chamfer": 7.69305188441649e-06, + "track": 2.130417669832241e-06, + "acceleration": 4.563714028904542e-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": 9.663212949817535e-06, + "observation_loss": 9.60210309131071e-06, + "chamfer": 7.532026302214945e-06, + "track": 2.070076789095765e-06, + "acceleration": 6.110989403396161e-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": 9.680089533503633e-06, + "observation_loss": 9.616454917704687e-06, + "chamfer": 7.529044978582533e-06, + "track": 2.0874094843748026e-06, + "acceleration": 6.36344097415531e-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": 9.764109563548118e-06, + "observation_loss": 9.67559935816098e-06, + "chamfer": 7.560874109913129e-06, + "track": 2.1147247935005e-06, + "acceleration": 8.85105961856425e-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": 9.724748451844789e-06, + "observation_loss": 9.659011084295344e-06, + "chamfer": 7.544070740550524e-06, + "track": 2.11494034374482e-06, + "acceleration": 6.573777966423222e-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": 9.782431334315334e-06, + "observation_loss": 9.659791430749465e-06, + "chamfer": 7.5184289016760886e-06, + "track": 2.141362529073376e-06, + "acceleration": 1.2263970461390272e-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": 9.90733769867802e-06, + "observation_loss": 9.676699846750125e-06, + "chamfer": 7.521305633417796e-06, + "track": 2.1553939859586535e-06, + "acceleration": 2.306374682348178e-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": 1.022282685880782e-05, + "observation_loss": 9.739728739077691e-06, + "chamfer": 7.535322765761521e-06, + "track": 2.2044062006898457e-06, + "acceleration": 4.830983471038053e-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": 1.0427703273307998e-05, + "observation_loss": 9.79019114311086e-06, + "chamfer": 7.5615662353811786e-06, + "track": 2.2286249077296816e-06, + "acceleration": 6.375117891366244e-07, + "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": 1.006448201223975e-05, + "observation_loss": 9.781724656932056e-06, + "chamfer": 7.549688689323375e-06, + "track": 2.23203551286133e-06, + "acceleration": 2.827574121511134e-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": 9.971872714231722e-06, + "observation_loss": 9.874214811134152e-06, + "chamfer": 7.619394637004007e-06, + "track": 2.25481994675647e-06, + "acceleration": 9.765764730218507e-08, + "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": 1.0042702342616394e-05, + "observation_loss": 9.96726521407254e-06, + "chamfer": 7.680460839765146e-06, + "track": 2.286804829054745e-06, + "acceleration": 7.543742697180278e-08, + "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": 1.0215866495855153e-05, + "observation_loss": 1.0138179277419113e-05, + "chamfer": 7.786044079693966e-06, + "track": 2.352135652472498e-06, + "acceleration": 7.76870976437749e-08, + "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": 1.018068905977998e-05, + "observation_loss": 1.0104457942361478e-05, + "chamfer": 7.75981698097894e-06, + "track": 2.344640961382538e-06, + "acceleration": 7.623145847901469e-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": 1.0204515092482325e-05, + "observation_loss": 1.0048538570117671e-05, + "chamfer": 7.705237294430844e-06, + "track": 2.3433012756868266e-06, + "acceleration": 1.5597623814755934e-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": 1.0061016837425996e-05, + "observation_loss": 9.969786333385855e-06, + "chamfer": 7.613436991960043e-06, + "track": 2.356349341425812e-06, + "acceleration": 9.123075273009817e-08, + "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": 9.93914818536723e-06, + "observation_loss": 9.864625098998658e-06, + "chamfer": 7.515060133300722e-06, + "track": 2.3495647383242613e-06, + "acceleration": 7.452298689258896e-08, + "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": 9.942823453457095e-06, + "observation_loss": 9.734124432725366e-06, + "chamfer": 7.4317381404398475e-06, + "track": 2.3023860649118433e-06, + "acceleration": 2.0869912020771153e-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": 1.0093683158629574e-05, + "observation_loss": 9.589805813448038e-06, + "chamfer": 7.359742085100152e-06, + "track": 2.230063500974211e-06, + "acceleration": 5.038772314946982e-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": 9.835944183578249e-06, + "observation_loss": 9.566063454258256e-06, + "chamfer": 7.347760401898995e-06, + "track": 2.218302824985585e-06, + "acceleration": 2.6988112722392543e-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": 9.812414646148682e-06, + "observation_loss": 9.598208634997718e-06, + "chamfer": 7.384596756310202e-06, + "track": 2.213611878687516e-06, + "acceleration": 2.1420612483780133e-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": 9.946521458914503e-06, + "observation_loss": 9.706755918159615e-06, + "chamfer": 7.462618214049144e-06, + "track": 2.244137476736796e-06, + "acceleration": 2.397657112851448e-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": 9.947044418368023e-06, + "observation_loss": 9.863011655397713e-06, + "chamfer": 7.5637053669197485e-06, + "track": 2.29930651585164e-06, + "acceleration": 8.40327132323182e-08, + "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": 1.0085557732963935e-05, + "observation_loss": 1.0054314770968631e-05, + "chamfer": 7.679644113522954e-06, + "track": 2.374670884819352e-06, + "acceleration": 3.1242951337162594e-08, + "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": 1.0235003173875157e-05, + "observation_loss": 1.020217860059347e-05, + "chamfer": 7.74083127907943e-06, + "track": 2.461347776261391e-06, + "acceleration": 3.282473670651598e-08, + "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": 1.0471524547028821e-05, + "observation_loss": 1.0378016668255441e-05, + "chamfer": 7.81702055974165e-06, + "track": 2.560996563261142e-06, + "acceleration": 9.350774377026028e-08, + "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": 1.0868714525713585e-05, + "observation_loss": 1.0712623407016508e-05, + "chamfer": 7.98152632341953e-06, + "track": 2.7310973109706538e-06, + "acceleration": 1.5609121817306004e-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": 1.1218378858757205e-05, + "observation_loss": 1.1067622835980728e-05, + "chamfer": 8.168791282514576e-06, + "track": 2.8988315534661524e-06, + "acceleration": 1.507559801439129e-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": 1.1456972060841508e-05, + "observation_loss": 1.1364503734512255e-05, + "chamfer": 8.329527190653607e-06, + "track": 3.034976316484972e-06, + "acceleration": 9.246844712151869e-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": 1.167152640846325e-05, + "observation_loss": 1.1552665455383249e-05, + "chamfer": 8.419436198892072e-06, + "track": 3.1332297112385277e-06, + "acceleration": 1.1886069017918999e-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": 1.1972088032052852e-05, + "observation_loss": 1.1869049558299594e-05, + "chamfer": 8.609654287283774e-06, + "track": 3.25939572576317e-06, + "acceleration": 1.0303834585556615e-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": 1.241124209627742e-05, + "observation_loss": 1.2217768926348072e-05, + "chamfer": 8.798898306849878e-06, + "track": 3.4188706194981933e-06, + "acceleration": 1.9347355362242524e-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": 1.248880107596051e-05, + "observation_loss": 1.2428477930370718e-05, + "chamfer": 8.902678018785082e-06, + "track": 3.525799684211961e-06, + "acceleration": 6.032344401774026e-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": 1.2608529686986003e-05, + "observation_loss": 1.2528309525805525e-05, + "chamfer": 8.946947673393879e-06, + "track": 3.5813613976642955e-06, + "acceleration": 8.022018960218702e-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": 1.2676010555878747e-05, + "observation_loss": 1.2609732948476449e-05, + "chamfer": 8.993910341814626e-06, + "track": 3.6158221519144718e-06, + "acceleration": 6.627795556823912e-08, + "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": 1.2689342838712037e-05, + "observation_loss": 1.2641121429624036e-05, + "chamfer": 8.990170499600936e-06, + "track": 3.6509504752757493e-06, + "acceleration": 4.8221796333791644e-08, + "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": 1.271931341761956e-05, + "observation_loss": 1.2664134374062996e-05, + "chamfer": 8.978874575404916e-06, + "track": 3.6852597986580804e-06, + "acceleration": 5.5178897895302725e-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": 1.2796454939234536e-05, + "observation_loss": 1.2664342648349702e-05, + "chamfer": 8.986355169326998e-06, + "track": 3.6779872516490286e-06, + "acceleration": 1.321122198305602e-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": 1.273327688977588e-05, + "observation_loss": 1.261958277609665e-05, + "chamfer": 8.965481356426608e-06, + "track": 3.654101192296366e-06, + "acceleration": 1.1369407104666607e-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": 1.2593052815645933e-05, + "observation_loss": 1.2569444152177311e-05, + "chamfer": 8.927635462896433e-06, + "track": 3.6418086892808788e-06, + "acceleration": 2.360872919382473e-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": 1.2588257050083485e-05, + "observation_loss": 1.2530808817245997e-05, + "chamfer": 8.892091500456445e-06, + "track": 3.638717089415877e-06, + "acceleration": 5.7448257706482764e-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": 1.2578591849887744e-05, + "observation_loss": 1.2481745216064155e-05, + "chamfer": 8.853162398736458e-06, + "track": 3.6285825899540214e-06, + "acceleration": 9.684658408559699e-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": 1.2462201993912458e-05, + "observation_loss": 1.2373519894026686e-05, + "chamfer": 8.794989298621658e-06, + "track": 3.578530368031352e-06, + "acceleration": 8.868167356013146e-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": 1.2193428119644523e-05, + "observation_loss": 1.214721123687923e-05, + "chamfer": 8.672859621583484e-06, + "track": 3.47435138792207e-06, + "acceleration": 4.6217291327366183e-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": 1.0055904534548668e-05, + "chamfer_mean": 6.940615347635533e-06, + "track_mean": 2.0521395877419004e-06, + "acceleration_mean": 1.0631496039636978e-06, + "observation_score": 8.992754923535054e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4153683200001979 + }, + "score_arrays_file": "pass_scores/pass_end_0088.npz", + "score_arrays_sha256": "2e77ad55861452dd2b56b24965936fd651ab337f05d230c797a12a0df10fe996" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0089.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0089.json new file mode 100644 index 0000000000000000000000000000000000000000..440bb2464c7d5d5337a8352234bfe38d2e90b2da --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0089.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8544, + "completed_passes": 89, + "snapshot": "pass_end_0089", + "candidate": true, + "snapshot_arrays_sha256": "1f66f573f66f7a2fc03cfcb788fca358632f6f2f2400b19eb2e58af6da50f986", + "score": 8.984382143732242e-06, + "score_result": { + "score": 8.984382143732242e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.028441824426409e-06, + 3.4281420084880665e-06, + 4.015234935650369e-06, + 5.202896318223793e-06, + 6.1849223129684106e-06, + 6.66701498630573e-06, + 6.536989531014115e-06, + 6.147030035208445e-06, + 5.90599893257604e-06, + 5.939166385360295e-06, + 6.247567853279179e-06, + 6.5410554270783905e-06, + 6.825969194323989e-06, + 7.080949217197485e-06, + 7.272289622051176e-06, + 7.495894806197612e-06, + 7.4268477874284144e-06, + 7.130928679544013e-06, + 6.957864115975099e-06, + 6.9456405071832705e-06, + 6.991268037381815e-06, + 6.886936716909986e-06, + 6.616905011469498e-06, + 6.502454198198393e-06, + 6.7983369262947235e-06, + 7.2442171585862525e-06, + 7.466279384971131e-06, + 7.507168447773438e-06, + 7.356040896411287e-06, + 7.160503173508914e-06, + 7.029096195765305e-06, + 7.033846941340016e-06, + 7.152990292524919e-06, + 7.4244162533432245e-06, + 7.653649845451582e-06, + 7.993713552423287e-06, + 8.270894795714412e-06, + 8.307510142913088e-06, + 8.314355909533333e-06, + 8.519734365108889e-06, + 8.92686421138933e-06, + 9.234806384483818e-06, + 9.369845429318957e-06, + 9.532794138067402e-06, + 9.548164598527364e-06, + 9.502236935077235e-06, + 9.428416888113134e-06, + 9.688366844784468e-06, + 1.0193803973379545e-05, + 1.061334569385508e-05, + 1.043442989612231e-05, + 1.0076459147967398e-05, + 9.812985808821395e-06, + 9.591590242052916e-06, + 9.60684337769635e-06, + 9.665640391176566e-06, + 9.649707862990908e-06, + 9.650341780798044e-06, + 9.668313396105077e-06, + 9.732390026329085e-06, + 9.784576832316816e-06, + 9.778645107871853e-06, + 9.873387170955539e-06, + 9.970462087949272e-06, + 1.0145019587071147e-05, + 1.0113463758898433e-05, + 1.005889498628676e-05, + 9.981188668461982e-06, + 9.874732313619461e-06, + 9.744640919961967e-06, + 9.59907629294321e-06, + 9.575413059792481e-06, + 9.605983905203175e-06, + 9.71237022895366e-06, + 9.866047548712231e-06, + 1.0053736332338303e-05, + 1.0200092219747603e-05, + 1.0375048077548854e-05, + 1.070993130269926e-05, + 1.1067506420658901e-05, + 1.1366597391315736e-05, + 1.1553627700777724e-05, + 1.1867979992530309e-05, + 1.221857837663265e-05, + 1.2428075933712535e-05, + 1.2527927538030781e-05, + 1.260967746929964e-05, + 1.2642368346860167e-05, + 1.2664652786043007e-05, + 1.266358776774723e-05, + 1.2619661902135704e-05, + 1.2571088518598117e-05, + 1.2530857929959893e-05, + 1.248260923603084e-05, + 1.2374644938972779e-05, + 1.2150023394497111e-05 + ] + ], + "episode_mean_losses": [ + 8.984382143732242e-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": 3.028441824426409e-06, + "observation_loss": 3.028441824426409e-06, + "chamfer": 2.5673784875834826e-06, + "track": 4.610633936863451e-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": 4.8446083383169025e-05, + "observation_loss": 3.4281420084880665e-06, + "chamfer": 2.8981985451537184e-06, + "track": 5.299435770211858e-07, + "acceleration": 4.501794319367036e-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": 2.9383327273535542e-05, + "observation_loss": 4.015234935650369e-06, + "chamfer": 3.376769427632098e-06, + "track": 6.384655080182711e-07, + "acceleration": 2.5368091883137822e-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": 1.4643816030002199e-05, + "observation_loss": 5.202896318223793e-06, + "chamfer": 4.2837382352445275e-06, + "track": 9.19157912449009e-07, + "acceleration": 9.440919711778406e-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": 1.0757516974990722e-05, + "observation_loss": 6.1849223129684106e-06, + "chamfer": 4.961440936313011e-06, + "track": 1.2234814903422375e-06, + "acceleration": 4.572594662022311e-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": 8.05095987743698e-06, + "observation_loss": 6.66701498630573e-06, + "chamfer": 5.265867457637796e-06, + "track": 1.4011475286679342e-06, + "acceleration": 1.3839448911312502e-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": 8.498787792632356e-06, + "observation_loss": 6.536989531014115e-06, + "chamfer": 5.159999091119971e-06, + "track": 1.376990212520468e-06, + "acceleration": 1.9617987163655926e-06, + "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": 7.380238912446657e-06, + "observation_loss": 6.147030035208445e-06, + "chamfer": 4.890192485618172e-06, + "track": 1.2568374359034351e-06, + "acceleration": 1.2332088772382122e-06, + "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": 6.5889030338439625e-06, + "observation_loss": 5.90599893257604e-06, + "chamfer": 4.724096015706891e-06, + "track": 1.1819029168691486e-06, + "acceleration": 6.829039307376661e-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": 6.227064659469761e-06, + "observation_loss": 5.939166385360295e-06, + "chamfer": 4.764168352267006e-06, + "track": 1.1749981467801263e-06, + "acceleration": 2.878981035792094e-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": 6.3803663579165e-06, + "observation_loss": 6.247567853279179e-06, + "chamfer": 5.017086550651584e-06, + "track": 1.2304813026275951e-06, + "acceleration": 1.3279843358304788e-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": 6.642454536631703e-06, + "observation_loss": 6.5410554270783905e-06, + "chamfer": 5.253275048744399e-06, + "track": 1.2877804920208291e-06, + "acceleration": 1.0139892481220159e-07, + "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": 6.864110218884889e-06, + "observation_loss": 6.825969194323989e-06, + "chamfer": 5.500379302247893e-06, + "track": 1.3255898920760956e-06, + "acceleration": 3.8140814950793356e-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": 7.176754479587544e-06, + "observation_loss": 7.080949217197485e-06, + "chamfer": 5.722438800148666e-06, + "track": 1.358510530735657e-06, + "acceleration": 9.580548976373393e-08, + "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": 7.299125627469039e-06, + "observation_loss": 7.272289622051176e-06, + "chamfer": 5.893131401535356e-06, + "track": 1.3791581068289815e-06, + "acceleration": 2.6835826005822128e-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": 7.564397037640447e-06, + "observation_loss": 7.495894806197612e-06, + "chamfer": 6.081134870328242e-06, + "track": 1.414759822182532e-06, + "acceleration": 6.850206801800596e-08, + "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": 7.5837001531908754e-06, + "observation_loss": 7.4268477874284144e-06, + "chamfer": 6.032689270796254e-06, + "track": 1.3941584029453225e-06, + "acceleration": 1.5685223786476854e-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": 7.347000519075664e-06, + "observation_loss": 7.130928679544013e-06, + "chamfer": 5.81504082219908e-06, + "track": 1.3158880847186083e-06, + "acceleration": 2.1607172584481305e-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": 7.056020876916591e-06, + "observation_loss": 6.957864115975099e-06, + "chamfer": 5.695799245586386e-06, + "track": 1.262064756701875e-06, + "acceleration": 9.815654777867167e-08, + "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": 7.060144071147079e-06, + "observation_loss": 6.9456405071832705e-06, + "chamfer": 5.687631073669763e-06, + "track": 1.2580093198266695e-06, + "acceleration": 1.145037842320562e-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": 7.169850960053736e-06, + "observation_loss": 6.991268037381815e-06, + "chamfer": 5.719007276638877e-06, + "track": 1.2722606470561004e-06, + "acceleration": 1.7858283740679326e-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": 7.0248870542855e-06, + "observation_loss": 6.886936716909986e-06, + "chamfer": 5.647305442835204e-06, + "track": 1.2396312740747817e-06, + "acceleration": 1.3795055053833494e-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": 6.780352578061866e-06, + "observation_loss": 6.616905011469498e-06, + "chamfer": 5.450373009807663e-06, + "track": 1.1665318879749975e-06, + "acceleration": 1.6344773712262395e-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": 6.638597824348835e-06, + "observation_loss": 6.502454198198393e-06, + "chamfer": 5.355241682991618e-06, + "track": 1.147212401519937e-06, + "acceleration": 1.36143441409331e-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": 6.941744686628226e-06, + "observation_loss": 6.7983369262947235e-06, + "chamfer": 5.562237674894277e-06, + "track": 1.2360992514004465e-06, + "acceleration": 1.434077887552121e-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": 7.523213753302116e-06, + "observation_loss": 7.2442171585862525e-06, + "chamfer": 5.8734126469062176e-06, + "track": 1.3708046253668726e-06, + "acceleration": 2.789966231375729e-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": 7.748744792479556e-06, + "observation_loss": 7.466279384971131e-06, + "chamfer": 6.026330083841458e-06, + "track": 1.4399493011296727e-06, + "acceleration": 2.824653222432971e-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": 7.6930055001867e-06, + "observation_loss": 7.507168447773438e-06, + "chamfer": 6.066456080588978e-06, + "track": 1.4407125945581356e-06, + "acceleration": 1.8583732241950202e-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": 7.758099854981992e-06, + "observation_loss": 7.356040896411287e-06, + "chamfer": 5.963793682894902e-06, + "track": 1.3922470998295466e-06, + "acceleration": 4.020591006792529e-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": 7.3774940574367065e-06, + "observation_loss": 7.160503173508914e-06, + "chamfer": 5.825107564305654e-06, + "track": 1.3353956092032604e-06, + "acceleration": 2.1699085550608288e-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": 7.09002642906853e-06, + "observation_loss": 7.029096195765305e-06, + "chamfer": 5.732058525609318e-06, + "track": 1.2970375564691494e-06, + "acceleration": 6.093014093266902e-08, + "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": 7.080411251081387e-06, + "observation_loss": 7.033846941340016e-06, + "chamfer": 5.741251698054839e-06, + "track": 1.2925951295983396e-06, + "acceleration": 4.656435947936188e-08, + "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": 7.236832516355207e-06, + "observation_loss": 7.152990292524919e-06, + "chamfer": 5.840729954798007e-06, + "track": 1.312260565100587e-06, + "acceleration": 8.384216698686942e-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": 7.531393748649862e-06, + "observation_loss": 7.4244162533432245e-06, + "chamfer": 6.04106935497839e-06, + "track": 1.3833468983648345e-06, + "acceleration": 1.0697758057176543e-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": 7.742121852061246e-06, + "observation_loss": 7.653649845451582e-06, + "chamfer": 6.211489107954549e-06, + "track": 1.4421605101233581e-06, + "acceleration": 8.84722695104756e-08, + "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": 8.15266503195744e-06, + "observation_loss": 7.993713552423287e-06, + "chamfer": 6.4561104409222025e-06, + "track": 1.53760333887476e-06, + "acceleration": 1.5895156479928119e-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": 8.32640489534242e-06, + "observation_loss": 8.270894795714412e-06, + "chamfer": 6.64836761643528e-06, + "track": 1.6225268382186186e-06, + "acceleration": 5.551008186444051e-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": 8.655442798044533e-06, + "observation_loss": 8.307510142913088e-06, + "chamfer": 6.672527888440527e-06, + "track": 1.634981913412048e-06, + "acceleration": 3.479325130228972e-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": 8.392525160161313e-06, + "observation_loss": 8.314355909533333e-06, + "chamfer": 6.6942070588993374e-06, + "track": 1.6201488506339956e-06, + "acceleration": 7.816897351631269e-08, + "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": 8.676882316649426e-06, + "observation_loss": 8.519734365108889e-06, + "chamfer": 6.8462845774774905e-06, + "track": 1.6734501286919112e-06, + "acceleration": 1.57147511004041e-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": 9.135274012805894e-06, + "observation_loss": 8.92686421138933e-06, + "chamfer": 7.1290119194600265e-06, + "track": 1.7978520645556273e-06, + "acceleration": 2.0840970194058173e-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": 9.369947292725556e-06, + "observation_loss": 9.234806384483818e-06, + "chamfer": 7.338072009588359e-06, + "track": 1.8967346022691345e-06, + "acceleration": 1.3514048191609618e-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": 9.487042916589417e-06, + "observation_loss": 9.369845429318957e-06, + "chamfer": 7.4140025390079245e-06, + "track": 1.955842662937357e-06, + "acceleration": 1.1719706805024543e-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": 9.60564284469001e-06, + "observation_loss": 9.532794138067402e-06, + "chamfer": 7.515114248235477e-06, + "track": 2.017679889831925e-06, + "acceleration": 7.284890557457402e-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": 9.634061825636309e-06, + "observation_loss": 9.548164598527364e-06, + "chamfer": 7.522995929321041e-06, + "track": 2.025169123953674e-06, + "acceleration": 8.589765343458566e-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": 9.580446203472093e-06, + "observation_loss": 9.502236935077235e-06, + "chamfer": 7.489652489311993e-06, + "track": 2.012583991017891e-06, + "acceleration": 7.820906233746427e-08, + "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": 9.617481737222988e-06, + "observation_loss": 9.428416888113134e-06, + "chamfer": 7.435721272486262e-06, + "track": 1.9926956156268716e-06, + "acceleration": 1.8906455068190553e-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": 9.812302778300364e-06, + "observation_loss": 9.688366844784468e-06, + "chamfer": 7.607593943248503e-06, + "track": 2.08077267416229e-06, + "acceleration": 1.23935691931365e-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": 1.0268238838762045e-05, + "observation_loss": 1.0193803973379545e-05, + "chamfer": 7.921630640339572e-06, + "track": 2.2721735604136484e-06, + "acceleration": 7.443522775929523e-08, + "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": 1.0857012057385873e-05, + "observation_loss": 1.061334569385508e-05, + "chamfer": 8.1982489064103e-06, + "track": 2.415097014818457e-06, + "acceleration": 2.4366593720515084e-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": 1.054383483278798e-05, + "observation_loss": 1.043442989612231e-05, + "chamfer": 8.08746426628204e-06, + "track": 2.346965857213945e-06, + "acceleration": 1.0940527062075489e-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": 1.0220590411336161e-05, + "observation_loss": 1.0076459147967398e-05, + "chamfer": 7.864269718993455e-06, + "track": 2.2121896563476184e-06, + "acceleration": 1.441316044292762e-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": 9.858375960902777e-06, + "observation_loss": 9.812985808821395e-06, + "chamfer": 7.686144272156525e-06, + "track": 2.126841309291194e-06, + "acceleration": 4.538999931469334e-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": 9.651975233282428e-06, + "observation_loss": 9.591590242052916e-06, + "chamfer": 7.525179171352647e-06, + "track": 2.066411070700269e-06, + "acceleration": 6.038538202801647e-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": 9.66961306403391e-06, + "observation_loss": 9.60684337769635e-06, + "chamfer": 7.522895884903846e-06, + "track": 2.0839472654188285e-06, + "acceleration": 6.277001318721886e-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": 9.753526683198288e-06, + "observation_loss": 9.665640391176566e-06, + "chamfer": 7.554560852440773e-06, + "track": 2.111079993483145e-06, + "acceleration": 8.788609306975559e-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": 9.715450687508564e-06, + "observation_loss": 9.649707862990908e-06, + "chamfer": 7.538197678513825e-06, + "track": 2.1115101844770834e-06, + "acceleration": 6.574254740598917e-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": 9.773380952537991e-06, + "observation_loss": 9.650341780798044e-06, + "chamfer": 7.512373940699035e-06, + "track": 2.1379676127253333e-06, + "acceleration": 1.2303961227644322e-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": 9.899002179736272e-06, + "observation_loss": 9.668313396105077e-06, + "chamfer": 7.51618290451006e-06, + "track": 2.1521307189686922e-06, + "acceleration": 2.3068874099863024e-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": 1.0217023373115808e-05, + "observation_loss": 9.732390026329085e-06, + "chamfer": 7.531001301686047e-06, + "track": 2.2013882698956877e-06, + "acceleration": 4.846336878472357e-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": 1.0426392691442743e-05, + "observation_loss": 9.784576832316816e-06, + "chamfer": 7.558489869552432e-06, + "track": 2.2260865080170333e-06, + "acceleration": 6.418159728127648e-07, + "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": 1.0064813068311196e-05, + "observation_loss": 9.778645107871853e-06, + "chamfer": 7.548469511675648e-06, + "track": 2.2301751414488535e-06, + "acceleration": 2.8616798886105244e-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": 9.97327697405126e-06, + "observation_loss": 9.873387170955539e-06, + "chamfer": 7.619818006787682e-06, + "track": 2.2535696189152077e-06, + "acceleration": 9.989000204768672e-08, + "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": 1.0048394869954791e-05, + "observation_loss": 9.970462087949272e-06, + "chamfer": 7.683428520977031e-06, + "track": 2.287033566972241e-06, + "acceleration": 7.79327606892366e-08, + "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": 1.0221966476819944e-05, + "observation_loss": 1.0145019587071147e-05, + "chamfer": 7.791334610374179e-06, + "track": 2.3536852040706435e-06, + "acceleration": 7.694681869452324e-08, + "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": 1.0187477528234012e-05, + "observation_loss": 1.0113463758898433e-05, + "chamfer": 7.766620001348201e-06, + "track": 2.3468435301765567e-06, + "acceleration": 7.401404644724607e-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": 1.0214366739091929e-05, + "observation_loss": 1.005889498628676e-05, + "chamfer": 7.712944352533668e-06, + "track": 2.34595017900574e-06, + "acceleration": 1.5547146858807537e-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": 1.0072076292999554e-05, + "observation_loss": 9.981188668461982e-06, + "chamfer": 7.621310942340642e-06, + "track": 2.3598779534950154e-06, + "acceleration": 9.088769559184584e-08, + "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": 9.94648416963173e-06, + "observation_loss": 9.874732313619461e-06, + "chamfer": 7.522357918787748e-06, + "track": 2.3523746222053887e-06, + "acceleration": 7.17514296866284e-08, + "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": 9.946455065801274e-06, + "observation_loss": 9.744640919961967e-06, + "chamfer": 7.439301953127142e-06, + "track": 2.3053389668348245e-06, + "acceleration": 2.018144584781112e-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": 1.009885727398796e-05, + "observation_loss": 9.59907629294321e-06, + "chamfer": 7.366516001638956e-06, + "track": 2.2325605186779285e-06, + "acceleration": 4.997807536710752e-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": 9.843739462667145e-06, + "observation_loss": 9.575413059792481e-06, + "chamfer": 7.354540230153361e-06, + "track": 2.220873284386471e-06, + "acceleration": 2.6832637445295404e-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": 9.821293133427389e-06, + "observation_loss": 9.605983905203175e-06, + "chamfer": 7.389887741737766e-06, + "track": 2.216096390839084e-06, + "acceleration": 2.1530924243506888e-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": 9.966932339011692e-06, + "observation_loss": 9.71237022895366e-06, + "chamfer": 7.4664239946287125e-06, + "track": 2.2459464616986224e-06, + "acceleration": 2.545620532146131e-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": 9.953902917914093e-06, + "observation_loss": 9.866047548712231e-06, + "chamfer": 7.566052772745024e-06, + "track": 2.2999950033408822e-06, + "acceleration": 8.785550420498112e-08, + "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": 1.0084881978400517e-05, + "observation_loss": 1.0053736332338303e-05, + "chamfer": 7.679501322854776e-06, + "track": 2.374234782109852e-06, + "acceleration": 3.114581659247051e-08, + "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": 1.0233541615889408e-05, + "observation_loss": 1.0200092219747603e-05, + "chamfer": 7.739944521745201e-06, + "track": 2.460147243255051e-06, + "acceleration": 3.3449335745672215e-08, + "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": 1.0468609616509639e-05, + "observation_loss": 1.0375048077548854e-05, + "chamfer": 7.816018296580296e-06, + "track": 2.5590300083422335e-06, + "acceleration": 9.356124053283565e-08, + "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": 1.0865735930565279e-05, + "observation_loss": 1.070993130269926e-05, + "chamfer": 7.980224836501293e-06, + "track": 2.729706238824292e-06, + "acceleration": 1.5580476997456572e-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": 1.121623699873453e-05, + "observation_loss": 1.1067506420658901e-05, + "chamfer": 8.168529348040465e-06, + "track": 2.898977072618436e-06, + "acceleration": 1.4873087650357775e-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": 1.1463695045677014e-05, + "observation_loss": 1.1366597391315736e-05, + "chamfer": 8.330534910783172e-06, + "track": 3.0360627079062397e-06, + "acceleration": 9.709781068067969e-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": 1.1677162547130138e-05, + "observation_loss": 1.1553627700777724e-05, + "chamfer": 8.419528057856951e-06, + "track": 3.134099870294449e-06, + "acceleration": 1.2353524425634532e-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": 1.1973828804912046e-05, + "observation_loss": 1.1867979992530309e-05, + "chamfer": 8.608920325059444e-06, + "track": 3.259060122218216e-06, + "acceleration": 1.0584883369801901e-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": 1.2414695447660051e-05, + "observation_loss": 1.221857837663265e-05, + "chamfer": 8.799776878731791e-06, + "track": 3.4188014979008585e-06, + "acceleration": 1.9611699997312826e-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": 1.249030447070254e-05, + "observation_loss": 1.2428075933712535e-05, + "chamfer": 8.903120942704845e-06, + "track": 3.524954763634014e-06, + "acceleration": 6.222887805051869e-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": 1.2609632904059254e-05, + "observation_loss": 1.2527927538030781e-05, + "chamfer": 8.94771255843807e-06, + "track": 3.5802147522190353e-06, + "acceleration": 8.170525944706242e-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": 1.2675456673605368e-05, + "observation_loss": 1.260967746929964e-05, + "chamfer": 8.994633390102535e-06, + "track": 3.6150438518234296e-06, + "acceleration": 6.577900535376102e-08, + "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": 1.2690153198491316e-05, + "observation_loss": 1.2642368346860167e-05, + "chamfer": 8.991462891572155e-06, + "track": 3.650905227914336e-06, + "acceleration": 4.7785015055978874e-08, + "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": 1.2719691767415497e-05, + "observation_loss": 1.2664652786043007e-05, + "chamfer": 8.979565791378263e-06, + "track": 3.6850869946647435e-06, + "acceleration": 5.5038565704990106e-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": 1.2793412679457106e-05, + "observation_loss": 1.266358776774723e-05, + "chamfer": 8.986768989416305e-06, + "track": 3.6768192330782767e-06, + "acceleration": 1.2982462749278056e-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": 1.2733567928080447e-05, + "observation_loss": 1.2619661902135704e-05, + "chamfer": 8.966254426923115e-06, + "track": 3.6534072478389135e-06, + "acceleration": 1.1390593357418766e-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": 1.259496457350906e-05, + "observation_loss": 1.2571088518598117e-05, + "chamfer": 8.929113391786814e-06, + "track": 3.6419748994376278e-06, + "acceleration": 2.3876316035398304e-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": 1.2586917364387773e-05, + "observation_loss": 1.2530857929959893e-05, + "chamfer": 8.892373443813995e-06, + "track": 3.6384844861458987e-06, + "acceleration": 5.6059157316212804e-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": 1.2578837413457222e-05, + "observation_loss": 1.248260923603084e-05, + "chamfer": 8.853992767399177e-06, + "track": 3.628616241257987e-06, + "acceleration": 9.622800689612632e-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": 1.2464242900023237e-05, + "observation_loss": 1.2374644938972779e-05, + "chamfer": 8.79601611813996e-06, + "track": 3.578628366085468e-06, + "acceleration": 8.95983376381082e-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": 1.2196704119560309e-05, + "observation_loss": 1.2150023394497111e-05, + "chamfer": 8.674836863065138e-06, + "track": 3.475186986179324e-06, + "acceleration": 4.668098441129587e-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": 1.0046967058012038e-05, + "chamfer_mean": 6.934796428955299e-06, + "track_mean": 2.049585707671516e-06, + "acceleration_mean": 1.0625849310441637e-06, + "observation_score": 8.984382143732242e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4296399439990637 + }, + "score_arrays_file": "pass_scores/pass_end_0089.npz", + "score_arrays_sha256": "347db52e9bd392a04cea4810bd9fa7f4801556f74fe8ad56fee34bb7d7453452" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0090.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0090.json new file mode 100644 index 0000000000000000000000000000000000000000..0e07f03451d5b7a5a199701f250d832958f81245 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0090.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8640, + "completed_passes": 90, + "snapshot": "pass_end_0090", + "candidate": true, + "snapshot_arrays_sha256": "b9c1ede69fa3a107d0ddb4400208bf500f3be5830b928a70954c3d9cddc70337", + "score": 8.97495540878405e-06, + "score_result": { + "score": 8.97495540878405e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.025655814781203e-06, + 3.426830971875461e-06, + 4.010087650385685e-06, + 5.191698619455565e-06, + 6.171267614263343e-06, + 6.655297511315439e-06, + 6.5332492340530735e-06, + 6.146236955828499e-06, + 5.905171747144777e-06, + 5.933111424383242e-06, + 6.235956334421644e-06, + 6.533204214065336e-06, + 6.821828719694167e-06, + 7.072129392327042e-06, + 7.254442152770935e-06, + 7.473115601897007e-06, + 7.3981655077659525e-06, + 7.102582458173856e-06, + 6.929150003998075e-06, + 6.9160732891759835e-06, + 6.962211955396924e-06, + 6.859054337837733e-06, + 6.5897438616957515e-06, + 6.47466913505923e-06, + 6.7679925450647715e-06, + 7.211212505353615e-06, + 7.434784492943436e-06, + 7.477629878849257e-06, + 7.328251740545966e-06, + 7.13467716195737e-06, + 7.003975952102337e-06, + 7.010966783127515e-06, + 7.132063728931826e-06, + 7.404754796880297e-06, + 7.635917427251115e-06, + 7.977230779943056e-06, + 8.255794455180876e-06, + 8.294437066069804e-06, + 8.299119144794531e-06, + 8.502545824740082e-06, + 8.909380085242447e-06, + 9.21734499570448e-06, + 9.351613698527217e-06, + 9.514117664366495e-06, + 9.53000744630117e-06, + 9.484481779509224e-06, + 9.411476639797911e-06, + 9.672816304373555e-06, + 1.0178846423514187e-05, + 1.0599220331641845e-05, + 1.0420993930893019e-05, + 1.0064119123853743e-05, + 9.80069216893753e-06, + 9.579877769283485e-06, + 9.595897608960513e-06, + 9.655544999986887e-06, + 9.641065844334662e-06, + 9.64208084042184e-06, + 9.661103831604123e-06, + 9.725634299684316e-06, + 9.778745152289048e-06, + 9.775142643775325e-06, + 9.870816938928328e-06, + 9.970921382773668e-06, + 1.0148181900149211e-05, + 1.0119441867573187e-05, + 1.0066558388643898e-05, + 9.990859325625934e-06, + 9.884408427751623e-06, + 9.753986887517385e-06, + 9.608194886823185e-06, + 9.584693543729372e-06, + 9.613080692361109e-06, + 9.717758075566962e-06, + 9.86946361081209e-06, + 1.0053610822069459e-05, + 1.0197943083767314e-05, + 1.0371437383582816e-05, + 1.0707095498219132e-05, + 1.1067015293519944e-05, + 1.1370011634426191e-05, + 1.1554684533621185e-05, + 1.186753434012644e-05, + 1.2219995369378012e-05, + 1.242797134182183e-05, + 1.2528910701803397e-05, + 1.2611295460374095e-05, + 1.2644937669392675e-05, + 1.2666122529481072e-05, + 1.2663780580624007e-05, + 1.2621237146959174e-05, + 1.2573530511872377e-05, + 1.2532258551800624e-05, + 1.2485036677389871e-05, + 1.2376861377561e-05, + 1.2153590432717465e-05 + ] + ], + "episode_mean_losses": [ + 8.97495540878405e-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": 3.025655814781203e-06, + "observation_loss": 3.025655814781203e-06, + "chamfer": 2.5650551833678037e-06, + "track": 4.6060065983510867e-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": 4.835054278373718e-05, + "observation_loss": 3.426830971875461e-06, + "chamfer": 2.8971228402951965e-06, + "track": 5.297080747368454e-07, + "acceleration": 4.492371226660907e-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": 2.933238101832103e-05, + "observation_loss": 4.010087650385685e-06, + "chamfer": 3.372682840563357e-06, + "track": 6.374045824486529e-07, + "acceleration": 2.5322293367935345e-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": 1.4605421711166855e-05, + "observation_loss": 5.191698619455565e-06, + "chamfer": 4.275471837900113e-06, + "track": 9.16226952085708e-07, + "acceleration": 9.41372309171129e-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": 1.0723030754888896e-05, + "observation_loss": 6.171267614263343e-06, + "chamfer": 4.952488325216109e-06, + "track": 1.2187794027340715e-06, + "acceleration": 4.551763140625553e-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": 8.046748916967772e-06, + "observation_loss": 6.655297511315439e-06, + "chamfer": 5.258329565549502e-06, + "track": 1.3969677183922613e-06, + "acceleration": 1.3914516330260085e-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": 8.5197916632751e-06, + "observation_loss": 6.5332492340530735e-06, + "chamfer": 5.1575061661424115e-06, + "track": 1.3757429542238242e-06, + "acceleration": 1.9865428839693777e-06, + "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": 7.4245044743292965e-06, + "observation_loss": 6.146236955828499e-06, + "chamfer": 4.889459887635894e-06, + "track": 1.2567771818794427e-06, + "acceleration": 1.2782677458744729e-06, + "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": 6.624473826377653e-06, + "observation_loss": 5.905171747144777e-06, + "chamfer": 4.723391612060368e-06, + "track": 1.181780248771247e-06, + "acceleration": 7.193020792328753e-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": 6.230329290701775e-06, + "observation_loss": 5.933111424383242e-06, + "chamfer": 4.760052433994133e-06, + "track": 1.173059217762784e-06, + "acceleration": 2.972178663185332e-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": 6.368833055603318e-06, + "observation_loss": 6.235956334421644e-06, + "chamfer": 5.0094654397980776e-06, + "track": 1.2264908946235664e-06, + "acceleration": 1.3287653644056263e-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": 6.632007170992438e-06, + "observation_loss": 6.533204214065336e-06, + "chamfer": 5.248340130492579e-06, + "track": 1.284863856199081e-06, + "acceleration": 9.880278639684548e-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": 6.860913345008157e-06, + "observation_loss": 6.821828719694167e-06, + "chamfer": 5.497296115208883e-06, + "track": 1.3245326044852845e-06, + "acceleration": 3.908446899458795e-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": 7.164754606492352e-06, + "observation_loss": 7.072129392327042e-06, + "chamfer": 5.715745828638319e-06, + "track": 1.3563835636887234e-06, + "acceleration": 9.26252710087283e-08, + "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": 7.283619197551161e-06, + "observation_loss": 7.254442152770935e-06, + "chamfer": 5.87989825362456e-06, + "track": 1.374544012833212e-06, + "acceleration": 2.9177016358516994e-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": 7.5438547355588526e-06, + "observation_loss": 7.473115601897007e-06, + "chamfer": 6.064597528165905e-06, + "track": 1.4085179600442643e-06, + "acceleration": 7.073928998124757e-08, + "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": 7.557695425930433e-06, + "observation_loss": 7.3981655077659525e-06, + "chamfer": 6.0118327382951975e-06, + "track": 1.3863328831575927e-06, + "acceleration": 1.5953006027302763e-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": 7.3188243732147384e-06, + "observation_loss": 7.102582458173856e-06, + "chamfer": 5.794546268589329e-06, + "track": 1.3080361895845272e-06, + "acceleration": 2.162420145168653e-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": 7.026649200270185e-06, + "observation_loss": 6.929150003998075e-06, + "chamfer": 5.67488677916117e-06, + "track": 1.25426345221058e-06, + "acceleration": 9.749929574809357e-08, + "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": 7.028240815998288e-06, + "observation_loss": 6.9160732891759835e-06, + "chamfer": 5.666010565619217e-06, + "track": 1.2500629509304417e-06, + "acceleration": 1.1216760498200529e-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": 7.138893579394789e-06, + "observation_loss": 6.962211955396924e-06, + "chamfer": 5.697887445421657e-06, + "track": 1.2643243962884299e-06, + "acceleration": 1.7668146767846338e-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": 6.998176559136482e-06, + "observation_loss": 6.859054337837733e-06, + "chamfer": 5.627000064123422e-06, + "track": 1.232054046340636e-06, + "acceleration": 1.3912222129874863e-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": 6.753436991857598e-06, + "observation_loss": 6.5897438616957515e-06, + "chamfer": 5.4300403462548275e-06, + "track": 1.1597034017540864e-06, + "acceleration": 1.6369295963158947e-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": 6.60908790450776e-06, + "observation_loss": 6.47466913505923e-06, + "chamfer": 5.3342255341704e-06, + "track": 1.1404433735151542e-06, + "acceleration": 1.3441895418964123e-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": 6.910315278219059e-06, + "observation_loss": 6.7679925450647715e-06, + "chamfer": 5.540010988624999e-06, + "track": 1.22798167012661e-06, + "acceleration": 1.4232254841317626e-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": 7.489533345506061e-06, + "observation_loss": 7.211212505353615e-06, + "chamfer": 5.849587523698574e-06, + "track": 1.3616250953418785e-06, + "acceleration": 2.7832061277877074e-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": 7.716928848822135e-06, + "observation_loss": 7.434784492943436e-06, + "chamfer": 6.003712769597769e-06, + "track": 1.4310718370325048e-06, + "acceleration": 2.821442706135713e-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": 7.66393895901274e-06, + "observation_loss": 7.477629878849257e-06, + "chamfer": 6.045052487024805e-06, + "track": 1.4325772781376145e-06, + "acceleration": 1.8630917963946558e-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": 7.730995093879756e-06, + "observation_loss": 7.328251740545966e-06, + "chamfer": 5.943355972704012e-06, + "track": 1.3848955404682783e-06, + "acceleration": 4.027434101772087e-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": 7.352235115831718e-06, + "observation_loss": 7.13467716195737e-06, + "chamfer": 5.805917226098245e-06, + "track": 1.3287599358591251e-06, + "acceleration": 2.1755805335033074e-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": 7.064684268698329e-06, + "observation_loss": 7.003975952102337e-06, + "chamfer": 5.713081463909475e-06, + "track": 1.2908946018796996e-06, + "acceleration": 6.070827396342793e-08, + "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": 7.059144991217181e-06, + "observation_loss": 7.010966783127515e-06, + "chamfer": 5.723899448639713e-06, + "track": 1.2870673344878014e-06, + "acceleration": 4.817829690750841e-08, + "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": 7.219112831080565e-06, + "observation_loss": 7.132063728931826e-06, + "chamfer": 5.824921572639141e-06, + "track": 1.307141928919009e-06, + "acceleration": 8.704889609134625e-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": 7.513363925681915e-06, + "observation_loss": 7.404754796880297e-06, + "chamfer": 6.026109986123629e-06, + "track": 1.3786450381303439e-06, + "acceleration": 1.0860894406050647e-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": 7.72356906963978e-06, + "observation_loss": 7.635917427251115e-06, + "chamfer": 6.198086794029223e-06, + "track": 1.4378310879692435e-06, + "acceleration": 8.765203318716885e-08, + "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": 8.134541531035211e-06, + "observation_loss": 7.977230779943056e-06, + "chamfer": 6.443803613365162e-06, + "track": 1.5334270528910565e-06, + "acceleration": 1.5731116320694127e-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": 8.310272278322373e-06, + "observation_loss": 8.255794455180876e-06, + "chamfer": 6.637229034822667e-06, + "track": 1.6185651929845335e-06, + "acceleration": 5.4477744981795695e-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": 8.640849046059884e-06, + "observation_loss": 8.294437066069804e-06, + "chamfer": 6.663205113000004e-06, + "track": 1.6312314983224496e-06, + "acceleration": 3.464116105078574e-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": 8.376604455406778e-06, + "observation_loss": 8.299119144794531e-06, + "chamfer": 6.68345592202968e-06, + "track": 1.6156633364516892e-06, + "acceleration": 7.74849908680153e-08, + "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": 8.658343176648486e-06, + "observation_loss": 8.502545824740082e-06, + "chamfer": 6.834362011431949e-06, + "track": 1.6681839269949705e-06, + "acceleration": 1.5579723822156666e-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": 9.117336958297528e-06, + "observation_loss": 8.909380085242447e-06, + "chamfer": 7.117039331205888e-06, + "track": 1.792340640349721e-06, + "acceleration": 2.0795674515738938e-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": 9.352286724606529e-06, + "observation_loss": 9.21734499570448e-06, + "chamfer": 7.326101240323624e-06, + "track": 1.8912437553808559e-06, + "acceleration": 1.3494127415469848e-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": 9.468308235227596e-06, + "observation_loss": 9.351613698527217e-06, + "chamfer": 7.401592483802233e-06, + "track": 1.9500209873513086e-06, + "acceleration": 1.1669408905845557e-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": 9.585981388227083e-06, + "observation_loss": 9.514117664366495e-06, + "chamfer": 7.502489097532816e-06, + "track": 2.0116285668336786e-06, + "acceleration": 7.186366701716906e-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": 9.614797818358056e-06, + "observation_loss": 9.53000744630117e-06, + "chamfer": 7.51069364923751e-06, + "track": 2.0193142518110108e-06, + "acceleration": 8.479029389718562e-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": 9.562540981278289e-06, + "observation_loss": 9.484481779509224e-06, + "chamfer": 7.47770855014096e-06, + "track": 2.0067736841156147e-06, + "acceleration": 7.80596067784245e-08, + "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": 9.600604244042188e-06, + "observation_loss": 9.411476639797911e-06, + "chamfer": 7.424201157846255e-06, + "track": 1.987275027204305e-06, + "acceleration": 1.891275331900033e-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": 9.79674678092124e-06, + "observation_loss": 9.672816304373555e-06, + "chamfer": 7.5972538979840465e-06, + "track": 2.075562179015833e-06, + "acceleration": 1.239305618128128e-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": 1.0253372238366865e-05, + "observation_loss": 1.0178846423514187e-05, + "chamfer": 7.911859029263724e-06, + "track": 2.2669878489978146e-06, + "acceleration": 7.452602801549801e-08, + "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": 1.0843076779565308e-05, + "observation_loss": 1.0599220331641845e-05, + "chamfer": 8.189166692318395e-06, + "track": 2.4100531845760997e-06, + "acceleration": 2.438560500195308e-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": 1.0531295629334636e-05, + "observation_loss": 1.0420993930893019e-05, + "chamfer": 8.078627615759615e-06, + "track": 2.3423660877597285e-06, + "acceleration": 1.103020821346945e-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": 1.0208871572103817e-05, + "observation_loss": 1.0064119123853743e-05, + "chamfer": 7.856196134525817e-06, + "track": 2.207922989327926e-06, + "acceleration": 1.447522350872532e-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": 9.84593225439312e-06, + "observation_loss": 9.80069216893753e-06, + "chamfer": 7.67807250667829e-06, + "track": 2.1226196622592397e-06, + "acceleration": 4.524002150674278e-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": 9.640084499551449e-06, + "observation_loss": 9.579877769283485e-06, + "chamfer": 7.517521225963719e-06, + "track": 2.06235631594609e-06, + "acceleration": 6.020677290052845e-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": 9.658294402470347e-06, + "observation_loss": 9.595897608960513e-06, + "chamfer": 7.515732249885332e-06, + "track": 2.0801655864488566e-06, + "acceleration": 6.239675798269673e-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": 9.74421163846273e-06, + "observation_loss": 9.655544999986887e-06, + "chamfer": 7.548207122454187e-06, + "track": 2.107338332280051e-06, + "acceleration": 8.86661979393466e-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": 9.707782737677917e-06, + "observation_loss": 9.641065844334662e-06, + "chamfer": 7.5326443038647994e-06, + "track": 2.108421313096187e-06, + "acceleration": 6.671731966889638e-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": 9.767201845534146e-06, + "observation_loss": 9.64208084042184e-06, + "chamfer": 7.5071338869747706e-06, + "track": 2.1349471808207454e-06, + "acceleration": 1.2512109037743357e-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": 9.893610695144162e-06, + "observation_loss": 9.661103831604123e-06, + "chamfer": 7.511854164476972e-06, + "track": 2.149249667127151e-06, + "acceleration": 2.325072756548252e-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": 1.0211697372142226e-05, + "observation_loss": 9.725634299684316e-06, + "chamfer": 7.527090929215774e-06, + "track": 2.198543825215893e-06, + "acceleration": 4.86063299831585e-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": 1.0423039384477306e-05, + "observation_loss": 9.778745152289048e-06, + "chamfer": 7.555271167802857e-06, + "track": 2.223474211859866e-06, + "acceleration": 6.442942890316772e-07, + "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": 1.0063195077236742e-05, + "observation_loss": 9.775142643775325e-06, + "chamfer": 7.547050245193532e-06, + "track": 2.228092625955469e-06, + "acceleration": 2.8805220608774107e-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": 9.972334737540223e-06, + "observation_loss": 9.870816938928328e-06, + "chamfer": 7.619113603141159e-06, + "track": 2.251703108413494e-06, + "acceleration": 1.0151764939791974e-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": 1.0051378012576606e-05, + "observation_loss": 9.970921382773668e-06, + "chamfer": 7.684615411562845e-06, + "track": 2.2863055164634716e-06, + "acceleration": 8.045670796263948e-08, + "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": 1.0225377991446294e-05, + "observation_loss": 1.0148181900149211e-05, + "chamfer": 7.794271368766204e-06, + "track": 2.353910758756683e-06, + "acceleration": 7.719624051105711e-08, + "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": 1.0192129593633581e-05, + "observation_loss": 1.0119441867573187e-05, + "chamfer": 7.771414857415948e-06, + "track": 2.3480267827835632e-06, + "acceleration": 7.268728552389803e-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": 1.0223189747193828e-05, + "observation_loss": 1.0066558388643898e-05, + "chamfer": 7.718841516179964e-06, + "track": 2.3477166450902587e-06, + "acceleration": 1.5663090380257927e-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": 1.0080661013489589e-05, + "observation_loss": 9.990859325625934e-06, + "chamfer": 7.628181265317835e-06, + "track": 2.3626778329344233e-06, + "acceleration": 8.980177312878368e-08, + "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": 9.955536370398477e-06, + "observation_loss": 9.884408427751623e-06, + "chamfer": 7.529384674853645e-06, + "track": 2.3550235255243024e-06, + "acceleration": 7.112804922826399e-08, + "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": 9.953369954018854e-06, + "observation_loss": 9.753986887517385e-06, + "chamfer": 7.446260497090407e-06, + "track": 2.3077268451743294e-06, + "acceleration": 1.9938346440540045e-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": 1.0105743967869785e-05, + "observation_loss": 9.608194886823185e-06, + "chamfer": 7.373217158601619e-06, + "track": 2.23497750084789e-06, + "acceleration": 4.975494221071131e-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": 9.853374649537727e-06, + "observation_loss": 9.584693543729372e-06, + "chamfer": 7.361437383224256e-06, + "track": 2.223255705757765e-06, + "acceleration": 2.6868104896493605e-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": 9.830090675677639e-06, + "observation_loss": 9.613080692361109e-06, + "chamfer": 7.394807198579656e-06, + "track": 2.2182732664077776e-06, + "acceleration": 2.1700969909943524e-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": 9.98708674160298e-06, + "observation_loss": 9.717758075566962e-06, + "chamfer": 7.470215223293053e-06, + "track": 2.2475433070212603e-06, + "acceleration": 2.693284670840512e-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": 9.960859642887954e-06, + "observation_loss": 9.86946361081209e-06, + "chamfer": 7.56875897423015e-06, + "track": 2.3007046365819406e-06, + "acceleration": 9.139572654248695e-08, + "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": 1.0084873792948201e-05, + "observation_loss": 1.0053610822069459e-05, + "chamfer": 7.6798214649898e-06, + "track": 2.373789584453334e-06, + "acceleration": 3.1262590738379004e-08, + "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": 1.0231740816379897e-05, + "observation_loss": 1.0197943083767314e-05, + "chamfer": 7.73923056840431e-06, + "track": 2.4587122879893286e-06, + "acceleration": 3.3797590504036634e-08, + "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": 1.0464803381182719e-05, + "observation_loss": 1.0371437383582816e-05, + "chamfer": 7.814762284397148e-06, + "track": 2.556674644438317e-06, + "acceleration": 9.336575601537334e-08, + "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": 1.086552583728917e-05, + "observation_loss": 1.0707095498219132e-05, + "chamfer": 7.979231668286957e-06, + "track": 2.7278633751848247e-06, + "acceleration": 1.5843011169636156e-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": 1.1228351468162145e-05, + "observation_loss": 1.1067015293519944e-05, + "chamfer": 8.168227395799477e-06, + "track": 2.8987874429731164e-06, + "acceleration": 1.6133643043758639e-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": 1.1478403393994085e-05, + "observation_loss": 1.1370011634426191e-05, + "chamfer": 8.33266312838532e-06, + "track": 3.037348506040871e-06, + "acceleration": 1.083919016764412e-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": 1.168399194284575e-05, + "observation_loss": 1.1554684533621185e-05, + "chamfer": 8.419987352681346e-06, + "track": 3.134697635687189e-06, + "acceleration": 1.2930716764003591e-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": 1.1978748261753935e-05, + "observation_loss": 1.186753434012644e-05, + "chamfer": 8.608722964709159e-06, + "track": 3.2588116027909564e-06, + "acceleration": 1.1121387188950393e-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": 1.242002508661244e-05, + "observation_loss": 1.2219995369378012e-05, + "chamfer": 8.80131574376719e-06, + "track": 3.4186793982371455e-06, + "acceleration": 2.0002963196930068e-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": 1.249210527021205e-05, + "observation_loss": 1.242797134182183e-05, + "chamfer": 8.903931302484125e-06, + "track": 3.524040039337706e-06, + "acceleration": 6.413373654368115e-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": 1.2612993486982305e-05, + "observation_loss": 1.2528910701803397e-05, + "chamfer": 8.949388757173438e-06, + "track": 3.579522172003635e-06, + "acceleration": 8.408317597741188e-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": 1.2677059203269891e-05, + "observation_loss": 1.2611295460374095e-05, + "chamfer": 8.996617907541804e-06, + "track": 3.6146775528322905e-06, + "acceleration": 6.57636576306686e-08, + "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": 1.2693331882474013e-05, + "observation_loss": 1.2644937669392675e-05, + "chamfer": 8.99367114470806e-06, + "track": 3.65126629731094e-06, + "acceleration": 4.839421663405119e-08, + "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": 1.2718946891254745e-05, + "observation_loss": 1.2666122529481072e-05, + "chamfer": 8.981065548141487e-06, + "track": 3.685056981339585e-06, + "acceleration": 5.28245038822206e-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": 1.2789319953299128e-05, + "observation_loss": 1.2663780580624007e-05, + "chamfer": 8.98776124813594e-06, + "track": 3.6760188777407166e-06, + "acceleration": 1.2553940109683026e-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": 1.273507223231718e-05, + "observation_loss": 1.2621237146959174e-05, + "chamfer": 8.967874236986972e-06, + "track": 3.653362909972202e-06, + "acceleration": 1.1383492903860315e-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": 1.259761211258592e-05, + "observation_loss": 1.2573530511872377e-05, + "chamfer": 8.931150659918785e-06, + "track": 3.6423796245799167e-06, + "acceleration": 2.4081266758457787e-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": 1.2587532182806171e-05, + "observation_loss": 1.2532258551800624e-05, + "chamfer": 8.89341208676342e-06, + "track": 3.638846919784555e-06, + "acceleration": 5.5273734034244626e-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": 1.2580519978655502e-05, + "observation_loss": 1.2485036677389871e-05, + "chamfer": 8.855738997226581e-06, + "track": 3.6292976801632904e-06, + "acceleration": 9.548367785328082e-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": 1.246617830474861e-05, + "observation_loss": 1.2376861377561e-05, + "chamfer": 8.797620466793887e-06, + "track": 3.5792406833934365e-06, + "acceleration": 8.931699113645664e-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": 1.220034664584091e-05, + "observation_loss": 1.2153590432717465e-05, + "chamfer": 8.677257028466556e-06, + "track": 3.4763334042509086e-06, + "acceleration": 4.6756017724192134e-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": 1.0037512332417009e-05, + "chamfer_mean": 6.928256285713512e-06, + "track_mean": 2.046699103234554e-06, + "acceleration_mean": 1.062556911309483e-06, + "observation_score": 8.97495540878405e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4295639639985893 + }, + "score_arrays_file": "pass_scores/pass_end_0090.npz", + "score_arrays_sha256": "73f8cec38b2fbf1793e378fd9d465eb74a6c1bd2f1eea38c870cde38188457f6" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0091.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0091.json new file mode 100644 index 0000000000000000000000000000000000000000..cc1206928c389717b1bfe22c4f66def8c156e90e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0091.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8736, + "completed_passes": 91, + "snapshot": "pass_end_0091", + "candidate": true, + "snapshot_arrays_sha256": "58ba04a6bf9fbcd1dca00a7ebf2eb666075ff6e9842921c0389d2b7da258edc0", + "score": 8.967152912949436e-06, + "score_result": { + "score": 8.967152912949436e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.022922101081349e-06, + 3.425400336709572e-06, + 4.004717084171716e-06, + 5.1804809118038975e-06, + 6.157640200399328e-06, + 6.6434795371606015e-06, + 6.529881829919759e-06, + 6.145629413367715e-06, + 5.9046224123449065e-06, + 5.927354322921019e-06, + 6.225259312486742e-06, + 6.5256508605671115e-06, + 6.817020221205894e-06, + 7.063192242640071e-06, + 7.2403358899464365e-06, + 7.452862973877927e-06, + 7.37294567443314e-06, + 7.0763503572379705e-06, + 6.901957021909766e-06, + 6.888713414809899e-06, + 6.93562151354854e-06, + 6.833584848209284e-06, + 6.5646349867165554e-06, + 6.449167813116219e-06, + 6.740169737895485e-06, + 7.181128694355721e-06, + 7.40683390176855e-06, + 7.452360023307847e-06, + 7.304521659534657e-06, + 7.113686478987802e-06, + 6.984722858760506e-06, + 6.994802788540255e-06, + 7.116640063031809e-06, + 7.391205144813284e-06, + 7.624503268743865e-06, + 7.96623953647213e-06, + 8.246328434324823e-06, + 8.285456715384498e-06, + 8.288577191706281e-06, + 8.491747394145932e-06, + 8.899350177671295e-06, + 9.207242328557186e-06, + 9.340528777102008e-06, + 9.503325600235257e-06, + 9.520495950710028e-06, + 9.475393198954407e-06, + 9.403614967595786e-06, + 9.666880941949785e-06, + 1.0174789167649578e-05, + 1.0595756975817494e-05, + 1.0417337762191892e-05, + 1.0060050954052713e-05, + 9.795868209039327e-06, + 9.574505384080112e-06, + 9.58944292506203e-06, + 9.648578270571306e-06, + 9.635393325879704e-06, + 9.636108188715298e-06, + 9.655171197664458e-06, + 9.720067282614764e-06, + 9.774095815373585e-06, + 9.772902558324859e-06, + 9.870748726825695e-06, + 9.974239219445735e-06, + 1.0154340998269618e-05, + 1.0127739187737461e-05, + 1.0076528269564733e-05, + 1.0000854672398418e-05, + 9.895889888866805e-06, + 9.764404239831492e-06, + 9.615467206458561e-06, + 9.590523404767737e-06, + 9.616879651730414e-06, + 9.720060916151851e-06, + 9.868495908449404e-06, + 1.0049465345218778e-05, + 1.0192168701905757e-05, + 1.036474986904068e-05, + 1.0700726306822617e-05, + 1.1062687917728908e-05, + 1.1369763342372607e-05, + 1.1553044714673888e-05, + 1.186504596262239e-05, + 1.2217587936902419e-05, + 1.2424659871612675e-05, + 1.2526048521976918e-05, + 1.2608054930751678e-05, + 1.264241655007936e-05, + 1.2662513654504437e-05, + 1.2658163541345857e-05, + 1.261730540136341e-05, + 1.2571450497489423e-05, + 1.2529369996627793e-05, + 1.2482766578614246e-05, + 1.2374514881230425e-05, + 1.2152753697591834e-05 + ] + ], + "episode_mean_losses": [ + 8.967152912949436e-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": 3.022922101081349e-06, + "observation_loss": 3.022922101081349e-06, + "chamfer": 2.5627759896451607e-06, + "track": 4.6014613985789765e-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": 4.825870200875215e-05, + "observation_loss": 3.425400336709572e-06, + "chamfer": 2.8959482278878568e-06, + "track": 5.294521088217152e-07, + "acceleration": 4.483330121729523e-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": 2.9286751669133082e-05, + "observation_loss": 4.004717084171716e-06, + "chamfer": 3.368416855664691e-06, + "track": 6.363000011333497e-07, + "acceleration": 2.5282033675466664e-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": 1.4565950550604612e-05, + "observation_loss": 5.1804809118038975e-06, + "chamfer": 4.267208623787155e-06, + "track": 9.132725153904175e-07, + "acceleration": 9.385469638800714e-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": 1.0689028385968413e-05, + "observation_loss": 6.157640200399328e-06, + "chamfer": 4.943571184412576e-06, + "track": 1.2140691296735895e-06, + "acceleration": 4.531388185569085e-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": 8.046280527196359e-06, + "observation_loss": 6.6434795371606015e-06, + "chamfer": 5.250734830042347e-06, + "track": 1.3927447071182542e-06, + "acceleration": 1.4028012174094329e-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": 8.541896932001691e-06, + "observation_loss": 6.529881829919759e-06, + "chamfer": 5.155260623723734e-06, + "track": 1.3746210925091873e-06, + "acceleration": 2.0120153294556076e-06, + "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": 7.46627893022378e-06, + "observation_loss": 6.145629413367715e-06, + "chamfer": 4.888847797701601e-06, + "track": 1.2567816156661138e-06, + "acceleration": 1.3206494031692273e-06, + "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": 6.658593974862015e-06, + "observation_loss": 5.9046224123449065e-06, + "chamfer": 4.722855919681024e-06, + "track": 1.1817664926638827e-06, + "acceleration": 7.539715625171084e-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": 6.234226475498872e-06, + "observation_loss": 5.927354322921019e-06, + "chamfer": 4.756111138704e-06, + "track": 1.1712430705301813e-06, + "acceleration": 3.0687226626469055e-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": 6.358408427331597e-06, + "observation_loss": 6.225259312486742e-06, + "chamfer": 5.002443231205689e-06, + "track": 1.2228163086547283e-06, + "acceleration": 1.3314922853169264e-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": 6.623439730901737e-06, + "observation_loss": 6.5256508605671115e-06, + "chamfer": 5.2435084398894105e-06, + "track": 1.2821421933040256e-06, + "acceleration": 9.778900533774504e-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": 6.8567546804843005e-06, + "observation_loss": 6.817020221205894e-06, + "chamfer": 5.493629032571334e-06, + "track": 1.3233910749477218e-06, + "acceleration": 3.97346227032358e-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": 7.154004379117396e-06, + "observation_loss": 7.063192242640071e-06, + "chamfer": 5.708799562853528e-06, + "track": 1.354392452412867e-06, + "acceleration": 9.081234253471848e-08, + "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": 7.273861228895839e-06, + "observation_loss": 7.2403358899464365e-06, + "chamfer": 5.8692594393505715e-06, + "track": 1.3710763369090273e-06, + "acceleration": 3.352520749899668e-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": 7.527919478889089e-06, + "observation_loss": 7.452862973877927e-06, + "chamfer": 6.049720923329005e-06, + "track": 1.40314216423576e-06, + "acceleration": 7.505656896000801e-08, + "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": 7.538388672401197e-06, + "observation_loss": 7.37294567443314e-06, + "chamfer": 5.993430477246875e-06, + "track": 1.3795150834994274e-06, + "acceleration": 1.6544285585951002e-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": 7.296871899598045e-06, + "observation_loss": 7.0763503572379705e-06, + "chamfer": 5.7754750741878524e-06, + "track": 1.3008753967369557e-06, + "acceleration": 2.2052168446862197e-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": 7.001713584031677e-06, + "observation_loss": 6.901957021909766e-06, + "chamfer": 5.654988399328431e-06, + "track": 1.2469688499550102e-06, + "acceleration": 9.975643422421854e-08, + "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": 7.003346127021359e-06, + "observation_loss": 6.888713414809899e-06, + "chamfer": 5.645919372909702e-06, + "track": 1.2427939282133593e-06, + "acceleration": 1.1463262694633158e-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": 7.117131644918118e-06, + "observation_loss": 6.93562151354854e-06, + "chamfer": 5.6784929256537e-06, + "track": 1.2571285878948402e-06, + "acceleration": 1.815099324176117e-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": 6.976668828428956e-06, + "observation_loss": 6.833584848209284e-06, + "chamfer": 5.608306764770532e-06, + "track": 1.2252783108124277e-06, + "acceleration": 1.4308402285223565e-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": 6.730262157361722e-06, + "observation_loss": 6.5646349867165554e-06, + "chamfer": 5.411110123532126e-06, + "track": 1.153524749497592e-06, + "acceleration": 1.6562738380798692e-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": 6.583257345482707e-06, + "observation_loss": 6.449167813116219e-06, + "chamfer": 5.314843747328268e-06, + "track": 1.1343241794747883e-06, + "acceleration": 1.3408971710759943e-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": 6.881216904730536e-06, + "observation_loss": 6.740169737895485e-06, + "chamfer": 5.519514161278494e-06, + "track": 1.2206553492433159e-06, + "acceleration": 1.4104730894359818e-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": 7.459613698301837e-06, + "observation_loss": 7.181128694355721e-06, + "chamfer": 5.8278160395275336e-06, + "track": 1.3533125411413494e-06, + "acceleration": 2.7848489025927847e-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": 7.68944028095575e-06, + "observation_loss": 7.40683390176855e-06, + "chamfer": 5.983499704598216e-06, + "track": 1.4233340834834962e-06, + "acceleration": 2.826067486694228e-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": 7.63859770813724e-06, + "observation_loss": 7.452360023307847e-06, + "chamfer": 6.026614300935762e-06, + "track": 1.4257456086852471e-06, + "acceleration": 1.8623799746819714e-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": 7.706516953476239e-06, + "observation_loss": 7.304521659534657e-06, + "chamfer": 5.925835921516409e-06, + "track": 1.3786856243314105e-06, + "acceleration": 4.0199549289354763e-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": 7.329937488975702e-06, + "observation_loss": 7.113686478987802e-06, + "chamfer": 5.790360319224419e-06, + "track": 1.3233262734502205e-06, + "acceleration": 2.1625091051191703e-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": 7.0450287239509635e-06, + "observation_loss": 6.984722858760506e-06, + "chamfer": 5.698542736354284e-06, + "track": 1.2861800087193842e-06, + "acceleration": 6.030570887105569e-08, + "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": 7.045795882731909e-06, + "observation_loss": 6.994802788540255e-06, + "chamfer": 5.7116862990369555e-06, + "track": 1.283116375816462e-06, + "acceleration": 5.099322208934609e-08, + "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": 7.206817372207297e-06, + "observation_loss": 7.116640063031809e-06, + "chamfer": 5.813323696202133e-06, + "track": 1.3033162531428388e-06, + "acceleration": 9.017730207006025e-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": 7.501319487346336e-06, + "observation_loss": 7.391205144813284e-06, + "chamfer": 6.0157976804475766e-06, + "track": 1.3754076917393832e-06, + "acceleration": 1.1011444911446233e-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": 7.711551006650552e-06, + "observation_loss": 7.624503268743865e-06, + "chamfer": 6.189474788698135e-06, + "track": 1.4350287074194057e-06, + "acceleration": 8.704738263531908e-08, + "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": 8.1219677667832e-06, + "observation_loss": 7.96623953647213e-06, + "chamfer": 6.43556404611445e-06, + "track": 1.530675604044518e-06, + "acceleration": 1.5572787503970176e-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": 8.300097761093639e-06, + "observation_loss": 8.246328434324823e-06, + "chamfer": 6.630095867876662e-06, + "track": 1.616232339074486e-06, + "acceleration": 5.376958966962775e-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": 8.631303899164777e-06, + "observation_loss": 8.285456715384498e-06, + "chamfer": 6.656675850535976e-06, + "track": 1.6287807511616847e-06, + "acceleration": 3.458471553585696e-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": 8.365583198610693e-06, + "observation_loss": 8.288577191706281e-06, + "chamfer": 6.675911663478473e-06, + "track": 1.6126656419146457e-06, + "acceleration": 7.700567294932625e-08, + "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": 8.647758477309253e-06, + "observation_loss": 8.491747394145932e-06, + "chamfer": 6.826780918345321e-06, + "track": 1.664966475800611e-06, + "acceleration": 1.5601118263930402e-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": 9.107464393309783e-06, + "observation_loss": 8.899350177671295e-06, + "chamfer": 7.110167643986642e-06, + "track": 1.7891827610583277e-06, + "acceleration": 2.0811393142139423e-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": 9.34143281483557e-06, + "observation_loss": 9.207242328557186e-06, + "chamfer": 7.319129963434534e-06, + "track": 1.8881128198700026e-06, + "acceleration": 1.3419021627214534e-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": 9.457227861275896e-06, + "observation_loss": 9.340528777102008e-06, + "chamfer": 7.39393226467655e-06, + "track": 1.946596057678107e-06, + "acceleration": 1.1669946786696528e-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": 9.573735951562412e-06, + "observation_loss": 9.503325600235257e-06, + "chamfer": 7.495133559132228e-06, + "track": 2.008191813729354e-06, + "acceleration": 7.041020211318028e-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": 9.603827493265271e-06, + "observation_loss": 9.520495950710028e-06, + "chamfer": 7.504200311814202e-06, + "track": 2.0162956388958264e-06, + "acceleration": 8.333151413353335e-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": 9.55368705035653e-06, + "observation_loss": 9.475393198954407e-06, + "chamfer": 7.471592653018888e-06, + "track": 2.003800545935519e-06, + "acceleration": 7.829412140836212e-08, + "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": 9.592503374733496e-06, + "observation_loss": 9.403614967595786e-06, + "chamfer": 7.4188651524309535e-06, + "track": 1.984750042538508e-06, + "acceleration": 1.8888846398112946e-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": 9.791003321879543e-06, + "observation_loss": 9.666880941949785e-06, + "chamfer": 7.593343070766423e-06, + "track": 2.0735383259307127e-06, + "acceleration": 1.2412249361659633e-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": 1.0249639672110789e-05, + "observation_loss": 1.0174789167649578e-05, + "chamfer": 7.909316082077567e-06, + "track": 2.2654733129456872e-06, + "acceleration": 7.48506252534753e-08, + "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": 1.0839929018402472e-05, + "observation_loss": 1.0595756975817494e-05, + "chamfer": 8.187000275938772e-06, + "track": 2.4087571546260733e-06, + "acceleration": 2.441717299461743e-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": 1.0528729035286233e-05, + "observation_loss": 1.0417337762191892e-05, + "chamfer": 8.076223821262829e-06, + "track": 2.3411139409290627e-06, + "acceleration": 1.113909817718195e-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": 1.0205443686572835e-05, + "observation_loss": 1.0060050954052713e-05, + "chamfer": 7.853553142922465e-06, + "track": 2.2064975837565726e-06, + "acceleration": 1.4539318726747297e-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": 9.840847269515507e-06, + "observation_loss": 9.795868209039327e-06, + "chamfer": 7.675015694985632e-06, + "track": 2.1208527414273703e-06, + "acceleration": 4.497860572882928e-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": 9.634747584641445e-06, + "observation_loss": 9.574505384080112e-06, + "chamfer": 7.514176104450598e-06, + "track": 2.0603297343768645e-06, + "acceleration": 6.024214371791459e-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": 9.651702384871896e-06, + "observation_loss": 9.58944292506203e-06, + "chamfer": 7.5117122833034955e-06, + "track": 2.077731096505886e-06, + "acceleration": 6.225929638503658e-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": 9.738665539771318e-06, + "observation_loss": 9.648578270571306e-06, + "chamfer": 7.544024811068084e-06, + "track": 2.104553232129547e-06, + "acceleration": 9.008715551317437e-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": 9.70270593825262e-06, + "observation_loss": 9.635393325879704e-06, + "chamfer": 7.529011782025918e-06, + "track": 2.1063817712274613e-06, + "acceleration": 6.73128965900105e-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": 9.764422429725528e-06, + "observation_loss": 9.636108188715298e-06, + "chamfer": 7.503395409003133e-06, + "track": 2.1327127797121648e-06, + "acceleration": 1.283138288954433e-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": 9.892278285406064e-06, + "observation_loss": 9.655171197664458e-06, + "chamfer": 7.508268481615232e-06, + "track": 2.146902716049226e-06, + "acceleration": 2.3710749985639268e-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": 1.0210244909103494e-05, + "observation_loss": 9.720067282614764e-06, + "chamfer": 7.523801286879461e-06, + "track": 2.196265768361627e-06, + "acceleration": 4.901777970189869e-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": 1.0421367733215448e-05, + "observation_loss": 9.774095815373585e-06, + "chamfer": 7.552695024060085e-06, + "track": 2.2214007913134992e-06, + "acceleration": 6.472718041550252e-07, + "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": 1.0062805813504383e-05, + "observation_loss": 9.772902558324859e-06, + "chamfer": 7.546392225776799e-06, + "track": 2.2265098778007086e-06, + "acceleration": 2.899033972880716e-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": 9.973965461540502e-06, + "observation_loss": 9.870748726825695e-06, + "chamfer": 7.620177711942233e-06, + "track": 2.2505710148834623e-06, + "acceleration": 1.0321702603732774e-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": 1.0057614417746663e-05, + "observation_loss": 9.974239219445735e-06, + "chamfer": 7.687611287110485e-06, + "track": 2.28662793233525e-06, + "acceleration": 8.33751769846458e-08, + "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": 1.0231871783616953e-05, + "observation_loss": 1.0154340998269618e-05, + "chamfer": 7.79916354076704e-06, + "track": 2.3551770027552266e-06, + "acceleration": 7.75305082356681e-08, + "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": 1.0200217730016448e-05, + "observation_loss": 1.0127739187737461e-05, + "chamfer": 7.777665814501233e-06, + "track": 2.3500736006099032e-06, + "acceleration": 7.247817279676383e-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": 1.023332242766628e-05, + "observation_loss": 1.0076528269564733e-05, + "chamfer": 7.726312105660327e-06, + "track": 2.350216618651757e-06, + "acceleration": 1.5679425757753052e-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": 1.0090691830555443e-05, + "observation_loss": 1.0000854672398418e-05, + "chamfer": 7.635500878677703e-06, + "track": 2.3653535663470393e-06, + "acceleration": 8.98367957802293e-08, + "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": 9.966830475605093e-06, + "observation_loss": 9.895889888866805e-06, + "chamfer": 7.537857982242713e-06, + "track": 2.3580316792504163e-06, + "acceleration": 7.094092069337421e-08, + "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": 9.964480341295712e-06, + "observation_loss": 9.764404239831492e-06, + "chamfer": 7.454138994944515e-06, + "track": 2.310265017513302e-06, + "acceleration": 2.0007604462080053e-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": 1.0115235454577487e-05, + "observation_loss": 9.615467206458561e-06, + "chamfer": 7.3786436587397475e-06, + "track": 2.236823320345138e-06, + "acceleration": 4.997683618057636e-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": 9.860683348961174e-06, + "observation_loss": 9.590523404767737e-06, + "chamfer": 7.365768396994099e-06, + "track": 2.2247554625209887e-06, + "acceleration": 2.7015971681976225e-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": 9.836573553911876e-06, + "observation_loss": 9.616879651730414e-06, + "chamfer": 7.397386980301235e-06, + "track": 2.219492444055504e-06, + "acceleration": 2.1969377428376902e-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": 1.0001188456953969e-05, + "observation_loss": 9.720060916151851e-06, + "chamfer": 7.471897788491333e-06, + "track": 2.2481635824078694e-06, + "acceleration": 2.8112737027186085e-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": 9.962902367988136e-06, + "observation_loss": 9.868495908449404e-06, + "chamfer": 7.5683151408156846e-06, + "track": 2.3001812223810703e-06, + "acceleration": 9.440675086125339e-08, + "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": 1.0080650099553168e-05, + "observation_loss": 1.0049465345218778e-05, + "chamfer": 7.677329449506942e-06, + "track": 2.3721358957118355e-06, + "acceleration": 3.118449853900529e-08, + "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": 1.0226775884802919e-05, + "observation_loss": 1.0192168701905757e-05, + "chamfer": 7.736017323622946e-06, + "track": 2.4561518330301624e-06, + "acceleration": 3.460713671188387e-08, + "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": 1.0457787539053243e-05, + "observation_loss": 1.036474986904068e-05, + "chamfer": 7.811284376657568e-06, + "track": 2.553465265009436e-06, + "acceleration": 9.30376486962814e-08, + "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": 1.0865473086596467e-05, + "observation_loss": 1.0700726306822617e-05, + "chamfer": 7.975958396855276e-06, + "track": 2.724768137341016e-06, + "acceleration": 1.6474717767778202e-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": 1.1251292562519666e-05, + "observation_loss": 1.1062687917728908e-05, + "chamfer": 8.165406143234577e-06, + "track": 2.8972813197469804e-06, + "acceleration": 1.8860464479075745e-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": 1.149225136032328e-05, + "observation_loss": 1.1369763342372607e-05, + "chamfer": 8.33248850540258e-06, + "track": 3.0372748369700275e-06, + "acceleration": 1.224876768901595e-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": 1.1687553524097893e-05, + "observation_loss": 1.1553044714673888e-05, + "chamfer": 8.418762263318058e-06, + "track": 3.13428245135583e-06, + "acceleration": 1.3450917890622804e-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": 1.198050540551776e-05, + "observation_loss": 1.186504596262239e-05, + "chamfer": 8.607178642705549e-06, + "track": 3.2578673199168406e-06, + "acceleration": 1.1545913736199509e-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": 1.2419287486409303e-05, + "observation_loss": 1.2217587936902419e-05, + "chamfer": 8.800544492260087e-06, + "track": 3.4170429898949806e-06, + "acceleration": 2.0169925107893505e-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": 1.2488942957133986e-05, + "observation_loss": 1.2424659871612675e-05, + "chamfer": 8.902766239771154e-06, + "track": 3.5218934044678463e-06, + "acceleration": 6.42833484221228e-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": 1.2611527381523047e-05, + "observation_loss": 1.2526048521976918e-05, + "chamfer": 8.948654794949107e-06, + "track": 3.577394181775162e-06, + "acceleration": 8.547905849809467e-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": 1.267384232050972e-05, + "observation_loss": 1.2608054930751678e-05, + "chamfer": 8.99566202861024e-06, + "track": 3.612392902141437e-06, + "acceleration": 6.578714106808548e-08, + "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": 1.2691084521065932e-05, + "observation_loss": 1.264241655007936e-05, + "chamfer": 8.99285078048706e-06, + "track": 3.6495657695923e-06, + "acceleration": 4.866777203460515e-08, + "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": 1.2712765055766795e-05, + "observation_loss": 1.2662513654504437e-05, + "chamfer": 8.97962581802858e-06, + "track": 3.682888063849532e-06, + "acceleration": 5.0251184546823424e-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": 1.277859428228112e-05, + "observation_loss": 1.2658163541345857e-05, + "chamfer": 8.985399290395435e-06, + "track": 3.6727640235767467e-06, + "acceleration": 1.2043118147175846e-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": 1.2729709851555526e-05, + "observation_loss": 1.261730540136341e-05, + "chamfer": 8.966222594608553e-06, + "track": 3.6510823520075064e-06, + "acceleration": 1.1240404518275682e-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": 1.259382588614244e-05, + "observation_loss": 1.2571450497489423e-05, + "chamfer": 8.930415788199753e-06, + "track": 3.641035164037021e-06, + "acceleration": 2.2375349573167114e-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": 1.2583050192915834e-05, + "observation_loss": 1.2529369996627793e-05, + "chamfer": 8.891997822502162e-06, + "track": 3.6373726288729813e-06, + "acceleration": 5.367996536165265e-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": 1.2578345376823563e-05, + "observation_loss": 1.2482766578614246e-05, + "chamfer": 8.854618499753997e-06, + "track": 3.628148306233925e-06, + "acceleration": 9.557874847132553e-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": 1.2464646715670824e-05, + "observation_loss": 1.2374514881230425e-05, + "chamfer": 8.796465408522636e-06, + "track": 3.578049700081465e-06, + "acceleration": 9.013148627445844e-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": 1.219996738655027e-05, + "observation_loss": 1.2152753697591834e-05, + "chamfer": 8.676928700879216e-06, + "track": 3.4758254514599685e-06, + "acceleration": 4.7213887910402264e-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": 1.0030448692077698e-05, + "chamfer_mean": 6.922886681100711e-06, + "track_mean": 2.0442662581980167e-06, + "acceleration_mean": 1.063295758071033e-06, + "observation_score": 8.967152912949436e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4294755209994037 + }, + "score_arrays_file": "pass_scores/pass_end_0091.npz", + "score_arrays_sha256": "dbc515d826a39eb3ff15a7cd0a0f5c1c153d75d41812d648e2e308b91238ff39" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0092.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0092.json new file mode 100644 index 0000000000000000000000000000000000000000..33cb3196428d90e04486b14a7f57de63338fe8d9 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0092.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8832, + "completed_passes": 92, + "snapshot": "pass_end_0092", + "candidate": true, + "snapshot_arrays_sha256": "2eab35d2920a1b9c3951638ff812aae782b0f68f41313863c4774f4ea473dd2b", + "score": 8.95846005732892e-06, + "score_result": { + "score": 8.95846005732892e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.020524900421151e-06, + 3.423872158236918e-06, + 3.9991400626604445e-06, + 5.168940333533101e-06, + 6.14335976933944e-06, + 6.630888037761906e-06, + 6.525805929413764e-06, + 6.144463441160042e-06, + 5.904041245230474e-06, + 5.9216567933617625e-06, + 6.214258519321447e-06, + 6.516471330542117e-06, + 6.811333150835708e-06, + 7.054440629872261e-06, + 7.227085461636307e-06, + 7.430334790115012e-06, + 7.345570338657126e-06, + 7.0485612013726495e-06, + 6.8735125751118176e-06, + 6.860619123472134e-06, + 6.907259376021102e-06, + 6.805867997172754e-06, + 6.537821718666237e-06, + 6.422436854336411e-06, + 6.71097268423182e-06, + 7.1486101660411805e-06, + 7.375925633823499e-06, + 7.424419436574681e-06, + 7.278825250978116e-06, + 7.089689916028874e-06, + 6.961802682781126e-06, + 6.9739212449349e-06, + 7.0979908741719555e-06, + 7.3738174251047894e-06, + 7.607457973790588e-06, + 7.95080359239364e-06, + 8.231536412495188e-06, + 8.273039384221192e-06, + 8.2742235463229e-06, + 8.474921742163133e-06, + 8.882399924914353e-06, + 9.19112608244177e-06, + 9.324040547653567e-06, + 9.487082934356295e-06, + 9.505119123787154e-06, + 9.46017462410964e-06, + 9.389291335537564e-06, + 9.653638699091971e-06, + 1.0162644684896804e-05, + 1.0584378287603613e-05, + 1.0406701221654657e-05, + 1.0050794116978068e-05, + 9.786826922209002e-06, + 9.565535947331227e-06, + 9.579545803717338e-06, + 9.64011542237131e-06, + 9.627526196709368e-06, + 9.62797821557615e-06, + 9.647550541558303e-06, + 9.713538020150736e-06, + 9.769568350748159e-06, + 9.770325050340034e-06, + 9.870136636891402e-06, + 9.976449291571043e-06, + 1.0159566954826005e-05, + 1.0135519914911129e-05, + 1.0086505426443182e-05, + 1.0012362508859951e-05, + 9.909384971251711e-06, + 9.77813579083886e-06, + 9.628166480979417e-06, + 9.602531463315245e-06, + 9.625478924135678e-06, + 9.726647476782091e-06, + 9.872196642390918e-06, + 1.0049960110336542e-05, + 1.0191010005655698e-05, + 1.0362105058447924e-05, + 1.069852260116022e-05, + 1.1062043085985351e-05, + 1.1373018423910253e-05, + 1.15543844003696e-05, + 1.1864792213600595e-05, + 1.2216310096846428e-05, + 1.242343114427058e-05, + 1.2526013051683549e-05, + 1.2608181350515224e-05, + 1.2642765796044841e-05, + 1.2661707842198666e-05, + 1.2656254511966836e-05, + 1.2616601452464238e-05, + 1.2570862054417375e-05, + 1.2528354091045912e-05, + 1.2482333659136202e-05, + 1.2374131983960979e-05, + 1.2154174328316003e-05 + ] + ], + "episode_mean_losses": [ + 8.95846005732892e-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": 3.020524900421151e-06, + "observation_loss": 3.020524900421151e-06, + "chamfer": 2.560779648774769e-06, + "track": 4.597453369115101e-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": 4.816681394004263e-05, + "observation_loss": 3.423872158236918e-06, + "chamfer": 2.89469562630984e-06, + "track": 5.291765887704969e-07, + "acceleration": 4.4742941099684685e-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": 2.9240585718071088e-05, + "observation_loss": 3.9991400626604445e-06, + "chamfer": 3.3639917091932148e-06, + "track": 6.351482966238109e-07, + "acceleration": 2.5241444745915942e-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": 1.4521438970405143e-05, + "observation_loss": 5.168940333533101e-06, + "chamfer": 4.258707576809684e-06, + "track": 9.102326998799981e-07, + "acceleration": 9.352498636872042e-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": 1.0655893674993422e-05, + "observation_loss": 6.14335976933944e-06, + "chamfer": 4.934188837069087e-06, + "track": 1.2091710459571914e-06, + "acceleration": 4.5125339056539815e-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": 8.04587580205407e-06, + "observation_loss": 6.630888037761906e-06, + "chamfer": 5.242659881332656e-06, + "track": 1.3882282701160875e-06, + "acceleration": 1.4149875369184883e-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": 8.561000868212432e-06, + "observation_loss": 6.525805929413764e-06, + "chamfer": 5.152568974153837e-06, + "track": 1.3732369552599266e-06, + "acceleration": 2.0351953935460187e-06, + "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": 7.503272172471043e-06, + "observation_loss": 6.144463441160042e-06, + "chamfer": 4.887868726655142e-06, + "track": 1.2565946008180617e-06, + "acceleration": 1.3588085039373254e-06, + "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": 6.689712336083176e-06, + "observation_loss": 5.904041245230474e-06, + "chamfer": 4.7223002184182405e-06, + "track": 1.1817411404990708e-06, + "acceleration": 7.856709203224455e-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": 6.239274171093712e-06, + "observation_loss": 5.9216567933617625e-06, + "chamfer": 4.75217666462413e-06, + "track": 1.1694800150507945e-06, + "acceleration": 3.176172924668208e-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": 6.348348506435286e-06, + "observation_loss": 6.214258519321447e-06, + "chamfer": 4.995153631170979e-06, + "track": 1.2191047744636307e-06, + "acceleration": 1.34089887637856e-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": 6.6147049437859096e-06, + "observation_loss": 6.516471330542117e-06, + "chamfer": 5.237449386186199e-06, + "track": 1.2790217169822427e-06, + "acceleration": 9.823338587011676e-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": 6.853195827716263e-06, + "observation_loss": 6.811333150835708e-06, + "chamfer": 5.4893794185773e-06, + "track": 1.3219538459452451e-06, + "acceleration": 4.186272661854673e-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": 7.144800292735454e-06, + "observation_loss": 7.054440629872261e-06, + "chamfer": 5.701863301510457e-06, + "track": 1.352577214674966e-06, + "acceleration": 9.03598262880223e-08, + "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": 7.260920028784312e-06, + "observation_loss": 7.227085461636307e-06, + "chamfer": 5.859071279701311e-06, + "track": 1.3680140682481579e-06, + "acceleration": 3.383467728212963e-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": 7.507113423343981e-06, + "observation_loss": 7.430334790115012e-06, + "chamfer": 6.0329607549647335e-06, + "track": 1.3973739214634406e-06, + "acceleration": 7.677864743982354e-08, + "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": 7.5153170655539725e-06, + "observation_loss": 7.345570338657126e-06, + "chamfer": 5.973308816464851e-06, + "track": 1.3722615221922752e-06, + "acceleration": 1.697465705774448e-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": 7.273180926858913e-06, + "observation_loss": 7.0485612013726495e-06, + "chamfer": 5.755145139119122e-06, + "track": 1.293416175940365e-06, + "acceleration": 2.2461995285993908e-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": 6.976757049415028e-06, + "observation_loss": 6.8735125751118176e-06, + "chamfer": 5.634022272715811e-06, + "track": 1.2394903023960069e-06, + "acceleration": 1.032446519388941e-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": 6.979762474657036e-06, + "observation_loss": 6.860619123472134e-06, + "chamfer": 5.6252192734973505e-06, + "track": 1.2353997362879454e-06, + "acceleration": 1.1914326591977442e-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": 7.092120995366713e-06, + "observation_loss": 6.907259376021102e-06, + "chamfer": 5.657713700202294e-06, + "track": 1.2495455621319707e-06, + "acceleration": 1.8486159092390153e-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": 6.951471277716337e-06, + "observation_loss": 6.805867997172754e-06, + "chamfer": 5.58784768145415e-06, + "track": 1.2180202020317665e-06, + "acceleration": 1.4560328054358251e-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": 6.702308837702731e-06, + "observation_loss": 6.537821718666237e-06, + "chamfer": 5.390782916947501e-06, + "track": 1.1470385743450606e-06, + "acceleration": 1.6448694850623724e-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": 6.558388122357428e-06, + "observation_loss": 6.422436854336411e-06, + "chamfer": 5.294449692883063e-06, + "track": 1.12798704776651e-06, + "acceleration": 1.3595142434041918e-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": 6.8516596911649685e-06, + "observation_loss": 6.71097268423182e-06, + "chamfer": 5.49790001969086e-06, + "track": 1.2130727782277972e-06, + "acceleration": 1.4068722009596968e-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": 7.426765932905255e-06, + "observation_loss": 7.1486101660411805e-06, + "chamfer": 5.804143711429788e-06, + "track": 1.3444665682982304e-06, + "acceleration": 2.781557952857838e-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": 7.658519280084874e-06, + "observation_loss": 7.375925633823499e-06, + "chamfer": 5.961001534160459e-06, + "track": 1.4149238722893642e-06, + "acceleration": 2.825932767791528e-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": 7.610060947627062e-06, + "observation_loss": 7.424419436574681e-06, + "chamfer": 6.006076546327677e-06, + "track": 1.4183430039338418e-06, + "acceleration": 1.856416531609284e-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": 7.680827366129961e-06, + "observation_loss": 7.278825250978116e-06, + "chamfer": 5.9067492657050025e-06, + "track": 1.3720759852731135e-06, + "acceleration": 4.020018877781695e-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": 7.306798579520546e-06, + "observation_loss": 7.089689916028874e-06, + "chamfer": 5.77250375499716e-06, + "track": 1.317186047344876e-06, + "acceleration": 2.171088340219285e-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": 7.023667876637774e-06, + "observation_loss": 6.961802682781126e-06, + "chamfer": 5.681208676833194e-06, + "track": 1.2805937785742572e-06, + "acceleration": 6.186500201010858e-08, + "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": 7.028863819869002e-06, + "observation_loss": 6.9739212449349e-06, + "chamfer": 5.6957687775138766e-06, + "track": 1.2781523537341855e-06, + "acceleration": 5.494255361782052e-08, + "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": 7.189240932348184e-06, + "observation_loss": 7.0979908741719555e-06, + "chamfer": 5.7992306210508104e-06, + "track": 1.2987601394343073e-06, + "acceleration": 9.124989475139955e-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": 7.484125490009319e-06, + "observation_loss": 7.3738174251047894e-06, + "chamfer": 6.00254361415864e-06, + "track": 1.3712739246329875e-06, + "acceleration": 1.103081999076494e-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": 7.694428859394975e-06, + "observation_loss": 7.607457973790588e-06, + "chamfer": 6.176573606353486e-06, + "track": 1.4308844811239396e-06, + "acceleration": 8.697043085703626e-08, + "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": 8.104660992103163e-06, + "observation_loss": 7.95080359239364e-06, + "chamfer": 6.424038474506233e-06, + "track": 1.526764890513732e-06, + "acceleration": 1.538577549808906e-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": 8.284941941383295e-06, + "observation_loss": 8.231536412495188e-06, + "chamfer": 6.619172836508369e-06, + "track": 1.6123639170473325e-06, + "acceleration": 5.3405532440820025e-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": 8.619223081041127e-06, + "observation_loss": 8.273039384221192e-06, + "chamfer": 6.64793651594664e-06, + "track": 1.625103209335066e-06, + "acceleration": 3.4618383892848215e-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": 8.3506583905546e-06, + "observation_loss": 8.2742235463229e-06, + "chamfer": 6.6658608375291806e-06, + "track": 1.6083625951068825e-06, + "acceleration": 7.643441080062985e-08, + "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": 8.629655894765165e-06, + "observation_loss": 8.474921742163133e-06, + "chamfer": 6.815036158513976e-06, + "track": 1.659885811022832e-06, + "acceleration": 1.5473386838493752e-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": 9.089500963455066e-06, + "observation_loss": 8.882399924914353e-06, + "chamfer": 7.098572041286388e-06, + "track": 1.7838282246884773e-06, + "acceleration": 2.0710099590814934e-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": 9.325485734734684e-06, + "observation_loss": 9.19112608244177e-06, + "chamfer": 7.308071417355677e-06, + "track": 1.8830542103387415e-06, + "acceleration": 1.343599507208637e-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": 9.441072506888304e-06, + "observation_loss": 9.324040547653567e-06, + "chamfer": 7.38258995625074e-06, + "track": 1.9414508187765023e-06, + "acceleration": 1.1703212265956608e-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": 9.556869372318033e-06, + "observation_loss": 9.487082934356295e-06, + "chamfer": 7.484117759304354e-06, + "track": 2.0029651750519406e-06, + "acceleration": 6.978650901601213e-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": 9.58786768023856e-06, + "observation_loss": 9.505119123787154e-06, + "chamfer": 7.493783414247446e-06, + "track": 2.0113354821660323e-06, + "acceleration": 8.27484782917054e-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": 9.53896415012423e-06, + "observation_loss": 9.46017462410964e-06, + "chamfer": 7.461198038072325e-06, + "track": 1.9989765860373154e-06, + "acceleration": 7.87895046983067e-08, + "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": 9.578340723237488e-06, + "observation_loss": 9.389291335537564e-06, + "chamfer": 7.4090357884415425e-06, + "track": 1.980255774469697e-06, + "acceleration": 1.8904925980223197e-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": 9.777709237823728e-06, + "observation_loss": 9.653638699091971e-06, + "chamfer": 7.584377271996345e-06, + "track": 2.0692618818429764e-06, + "acceleration": 1.240707803162877e-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": 1.0237624337605666e-05, + "observation_loss": 1.0162644684896804e-05, + "chamfer": 7.90128979133442e-06, + "track": 2.261354893562384e-06, + "acceleration": 7.497924059407524e-08, + "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": 1.0828392987605184e-05, + "observation_loss": 1.0584378287603613e-05, + "chamfer": 8.17955060483655e-06, + "track": 2.404827455393388e-06, + "acceleration": 2.4401489895353734e-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": 1.0518577255425043e-05, + "observation_loss": 1.0406701221654657e-05, + "chamfer": 8.069097930274438e-06, + "track": 2.337603291380219e-06, + "acceleration": 1.1187560033931732e-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": 1.0197129995503929e-05, + "observation_loss": 1.0050794116978068e-05, + "chamfer": 7.847490451240446e-06, + "track": 2.203303893111297e-06, + "acceleration": 1.463362337972285e-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": 9.832014256971888e-06, + "observation_loss": 9.786826922209002e-06, + "chamfer": 7.669088518014178e-06, + "track": 2.1177388589421753e-06, + "acceleration": 4.5187103836497045e-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": 9.625412531022448e-06, + "observation_loss": 9.565535947331227e-06, + "chamfer": 7.508353064622497e-06, + "track": 2.0571831100824056e-06, + "acceleration": 5.987686080288768e-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": 9.64208538789535e-06, + "observation_loss": 9.579545803717338e-06, + "chamfer": 7.505313988076523e-06, + "track": 2.0742318156408146e-06, + "acceleration": 6.253990392224296e-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": 9.73213627730729e-06, + "observation_loss": 9.64011542237131e-06, + "chamfer": 7.538682893937221e-06, + "track": 2.1014325284340885e-06, + "acceleration": 9.202069861657947e-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": 9.697997484181542e-06, + "observation_loss": 9.627526196709368e-06, + "chamfer": 7.5239722718833946e-06, + "track": 2.1035536974522984e-06, + "acceleration": 7.047120220704528e-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": 9.751331162988208e-06, + "observation_loss": 9.62797821557615e-06, + "chamfer": 7.498313607356977e-06, + "track": 2.1296650629665237e-06, + "acceleration": 1.2335260635154555e-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": 9.879582648864016e-06, + "observation_loss": 9.647550541558303e-06, + "chamfer": 7.503627784899436e-06, + "track": 2.143923211406218e-06, + "acceleration": 2.3203222099255072e-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": 1.0200827091466635e-05, + "observation_loss": 9.713538020150736e-06, + "chamfer": 7.520107828895561e-06, + "track": 2.1934297365078237e-06, + "acceleration": 4.87288843942224e-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": 1.041973791870987e-05, + "observation_loss": 9.769568350748159e-06, + "chamfer": 7.550338068540441e-06, + "track": 2.219230736955069e-06, + "acceleration": 6.501697953353869e-07, + "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": 1.006271668302361e-05, + "observation_loss": 9.770325050340034e-06, + "chamfer": 7.545596417912748e-06, + "track": 2.224728405053611e-06, + "acceleration": 2.9239200216579775e-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": 9.974484783015214e-06, + "observation_loss": 9.870136636891402e-06, + "chamfer": 7.620701580890454e-06, + "track": 2.249435510748299e-06, + "acceleration": 1.0434806796411067e-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": 1.0060531167255249e-05, + "observation_loss": 9.976449291571043e-06, + "chamfer": 7.689838639635127e-06, + "track": 2.286610424562241e-06, + "acceleration": 8.408149909655549e-08, + "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": 1.0235842637484893e-05, + "observation_loss": 1.0159566954826005e-05, + "chamfer": 7.803458174748812e-06, + "track": 2.356108780077193e-06, + "acceleration": 7.627564713175161e-08, + "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": 1.0206599654338788e-05, + "observation_loss": 1.0135519914911129e-05, + "chamfer": 7.783490218571387e-06, + "track": 2.352029923713417e-06, + "acceleration": 7.107998101218982e-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": 1.0244337317999452e-05, + "observation_loss": 1.0086505426443182e-05, + "chamfer": 7.733806342002936e-06, + "track": 2.3526993118139217e-06, + "acceleration": 1.578320478756723e-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": 1.0102619853569195e-05, + "observation_loss": 1.0012362508859951e-05, + "chamfer": 7.643790922884364e-06, + "track": 2.368571813349263e-06, + "acceleration": 9.025769287518415e-08, + "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": 9.980265531339683e-06, + "observation_loss": 9.909384971251711e-06, + "chamfer": 7.547704626631457e-06, + "track": 2.3616805719939293e-06, + "acceleration": 7.088051745540724e-08, + "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": 9.977802619687282e-06, + "observation_loss": 9.77813579083886e-06, + "chamfer": 7.464116151822964e-06, + "track": 2.3140191842685454e-06, + "acceleration": 1.996670420112423e-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": 1.0129147995030507e-05, + "observation_loss": 9.628166480979417e-06, + "chamfer": 7.387705863948213e-06, + "track": 2.240460389657528e-06, + "acceleration": 5.009817982681852e-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": 9.874042007140815e-06, + "observation_loss": 9.602531463315245e-06, + "chamfer": 7.374431334028486e-06, + "track": 2.228099901913083e-06, + "acceleration": 2.7151040171702334e-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": 9.846724424278364e-06, + "observation_loss": 9.625478924135678e-06, + "chamfer": 7.4032800512213726e-06, + "track": 2.222198418166954e-06, + "acceleration": 2.212452443473012e-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": 1.0015970474341884e-05, + "observation_loss": 9.726647476782091e-06, + "chamfer": 7.476500741177006e-06, + "track": 2.2501467356050853e-06, + "acceleration": 2.8932294071637443e-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": 9.968551239580847e-06, + "observation_loss": 9.872196642390918e-06, + "chamfer": 7.570941761514405e-06, + "track": 2.3012546535028378e-06, + "acceleration": 9.635454745193783e-08, + "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": 1.0081316759169567e-05, + "observation_loss": 1.0049960110336542e-05, + "chamfer": 7.677901521674357e-06, + "track": 2.3720590434095357e-06, + "acceleration": 3.1356684360162035e-08, + "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": 1.0226366612187121e-05, + "observation_loss": 1.0191010005655698e-05, + "chamfer": 7.735873623460066e-06, + "track": 2.4551361548219575e-06, + "acceleration": 3.5357047067918757e-08, + "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": 1.0455184565216769e-05, + "observation_loss": 1.0362105058447924e-05, + "chamfer": 7.810460374457762e-06, + "track": 2.5516449113638373e-06, + "acceleration": 9.307918702461393e-08, + "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": 1.0872110578930005e-05, + "observation_loss": 1.069852260116022e-05, + "chamfer": 7.975331755005755e-06, + "track": 2.7231910735281417e-06, + "acceleration": 1.7358759407670732e-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": 1.127824725699611e-05, + "observation_loss": 1.1062043085985351e-05, + "chamfer": 8.165143299265765e-06, + "track": 2.896900014093262e-06, + "acceleration": 2.1620431311930588e-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": 1.1505884685902856e-05, + "observation_loss": 1.1373018423910253e-05, + "chamfer": 8.334497579198796e-06, + "track": 3.0385208447114564e-06, + "acceleration": 1.328664041011507e-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": 1.1689956409099977e-05, + "observation_loss": 1.15543844003696e-05, + "chamfer": 8.419348887400702e-06, + "track": 3.1350359677162487e-06, + "acceleration": 1.3557234979089117e-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": 1.1984087905148044e-05, + "observation_loss": 1.1864792213600595e-05, + "chamfer": 8.607154995843302e-06, + "track": 3.2576369903836166e-06, + "acceleration": 1.1929581944514212e-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": 1.2418613550835289e-05, + "observation_loss": 1.2216310096846428e-05, + "chamfer": 8.800686373433564e-06, + "track": 3.4156239507865394e-06, + "acceleration": 2.023034539888613e-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": 1.248838088940829e-05, + "observation_loss": 1.242343114427058e-05, + "chamfer": 8.90297997102607e-06, + "track": 3.52045117324451e-06, + "acceleration": 6.494936855006017e-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": 1.2612612408702262e-05, + "observation_loss": 1.2526013051683549e-05, + "chamfer": 8.949680704972707e-06, + "track": 3.5763321193371667e-06, + "acceleration": 8.659915096131954e-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": 1.2674889148911461e-05, + "observation_loss": 1.2608181350515224e-05, + "chamfer": 8.996893484436441e-06, + "track": 3.611287411331432e-06, + "acceleration": 6.670754260085232e-08, + "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": 1.2692331438302062e-05, + "observation_loss": 1.2642765796044841e-05, + "chamfer": 8.994013114715926e-06, + "track": 3.6487524539552396e-06, + "acceleration": 4.956532251298995e-08, + "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": 1.2709819202427752e-05, + "observation_loss": 1.2661707842198666e-05, + "chamfer": 8.979955964605324e-06, + "track": 3.6817516502196668e-06, + "acceleration": 4.811132825466302e-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": 1.2773294656653889e-05, + "observation_loss": 1.2656254511966836e-05, + "chamfer": 8.985385647974908e-06, + "track": 3.670869091365603e-06, + "acceleration": 1.1704047153671127e-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": 1.2727828107017558e-05, + "observation_loss": 1.2616601452464238e-05, + "chamfer": 8.966649147623684e-06, + "track": 3.649952532214229e-06, + "acceleration": 1.1122623533310616e-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": 1.2591299309860915e-05, + "observation_loss": 1.2570862054417375e-05, + "chamfer": 8.930613148550037e-06, + "track": 3.640248905867338e-06, + "acceleration": 2.0437603609479993e-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": 1.2580524526129011e-05, + "observation_loss": 1.2528354091045912e-05, + "chamfer": 8.89190960151609e-06, + "track": 3.6364447169034975e-06, + "acceleration": 5.217064824591944e-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": 1.2577852430695202e-05, + "observation_loss": 1.2482333659136202e-05, + "chamfer": 8.85493864188902e-06, + "track": 3.6273950172471814e-06, + "acceleration": 9.551832391707649e-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": 1.246516785613494e-05, + "observation_loss": 1.2374131983960979e-05, + "chamfer": 8.7968064690358e-06, + "track": 3.577325514925178e-06, + "acceleration": 9.103592191195276e-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": 1.2201699973957147e-05, + "observation_loss": 1.2154174328316003e-05, + "chamfer": 8.678276572027244e-06, + "track": 3.4758982110361103e-06, + "acceleration": 4.7525702484563226e-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": 1.0022006726728705e-05, + "chamfer_mean": 6.9168425653742815e-06, + "track_mean": 2.041617512382743e-06, + "acceleration_mean": 1.063546643124506e-06, + "observation_score": 8.95846005732892e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4319803839989618 + }, + "score_arrays_file": "pass_scores/pass_end_0092.npz", + "score_arrays_sha256": "4733cfe2d2f5aeee9eddc98aacb4dfaf02a1edf15ae162317b229fc25e1f7b8e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0093.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0093.json new file mode 100644 index 0000000000000000000000000000000000000000..e10a998cd9c188c134c5ba52c977b6ba1cba2a67 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0093.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 8928, + "completed_passes": 93, + "snapshot": "pass_end_0093", + "candidate": true, + "snapshot_arrays_sha256": "6f6a83d8066c5d081fe88990d5aabd2cc08281b1bfc848234e922783ac8c0a2d", + "score": 8.947126692267679e-06, + "score_result": { + "score": 8.947126692267679e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.018359166162554e-06, + 3.4221775422338396e-06, + 3.993237442045938e-06, + 5.157294708624249e-06, + 6.129028861323604e-06, + 6.618071438424522e-06, + 6.521014256577473e-06, + 6.142840902612079e-06, + 5.903163582843263e-06, + 5.915869678574381e-06, + 6.203438715601806e-06, + 6.506598765554372e-06, + 6.803894393669907e-06, + 7.045779966574628e-06, + 7.2148459366871975e-06, + 7.408772034978028e-06, + 7.320424174395157e-06, + 7.0228152253548615e-06, + 6.846137694083154e-06, + 6.834455689386232e-06, + 6.881096851429902e-06, + 6.780588591936976e-06, + 6.5128579080919735e-06, + 6.396618118742481e-06, + 6.683008905383758e-06, + 7.118320809240686e-06, + 7.3468854679958895e-06, + 7.3980095294245984e-06, + 7.254678166646045e-06, + 7.066929356369656e-06, + 6.941059837117791e-06, + 6.95435574016301e-06, + 7.079847819113638e-06, + 7.356890364462743e-06, + 7.590450422867434e-06, + 7.934624591143802e-06, + 8.216230526159052e-06, + 8.260230060841423e-06, + 8.259583410108462e-06, + 8.458349839202128e-06, + 8.866071766533423e-06, + 9.175553714158013e-06, + 9.30876558413729e-06, + 9.472058081883006e-06, + 9.490977390669286e-06, + 9.446082913200371e-06, + 9.375976333103608e-06, + 9.642108125262894e-06, + 1.0153279617952649e-05, + 1.0575864507700317e-05, + 1.0398131053079851e-05, + 1.0042919711850118e-05, + 9.778717867447995e-06, + 9.55624727794202e-06, + 9.568306268192828e-06, + 9.629723535908852e-06, + 9.616363058739807e-06, + 9.618080184736755e-06, + 9.637404218665324e-06, + 9.703097020974383e-06, + 9.760330613062251e-06, + 9.762698027770966e-06, + 9.864433195616584e-06, + 9.973294254450593e-06, + 1.0158664736081846e-05, + 1.0136516721104272e-05, + 1.0088895578519441e-05, + 1.001562941382872e-05, + 9.913177564158104e-06, + 9.781211701920256e-06, + 9.62755257205572e-06, + 9.599822078598663e-06, + 9.620623131922912e-06, + 9.720238267618697e-06, + 9.863264494924806e-06, + 1.0039017979579512e-05, + 1.0179298442380968e-05, + 1.0350158845540136e-05, + 1.068801611836534e-05, + 1.105388582800515e-05, + 1.1370152606104966e-05, + 1.1549913324415684e-05, + 1.1857897334266454e-05, + 1.2208244697831105e-05, + 1.2416487152222544e-05, + 1.2519807569333352e-05, + 1.2601421985891648e-05, + 1.2636063729587477e-05, + 1.2654485544771887e-05, + 1.264774073206354e-05, + 1.2609266377694439e-05, + 1.2564530152303632e-05, + 1.2522310498752631e-05, + 1.2476200936362147e-05, + 1.2368584066280164e-05, + 1.2149761460023e-05 + ] + ], + "episode_mean_losses": [ + 8.947126692267679e-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": 3.018359166162554e-06, + "observation_loss": 3.018359166162554e-06, + "chamfer": 2.5589772576495307e-06, + "track": 4.593819937781518e-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": 4.8073128709802404e-05, + "observation_loss": 3.4221775422338396e-06, + "chamfer": 2.8933040994161274e-06, + "track": 5.288735565045499e-07, + "acceleration": 4.4650951167568564e-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": 2.9199632990639657e-05, + "observation_loss": 3.993237442045938e-06, + "chamfer": 3.3593018997635227e-06, + "track": 6.339355422824156e-07, + "acceleration": 2.520639645808842e-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": 1.4479135643341579e-05, + "observation_loss": 5.157294708624249e-06, + "chamfer": 4.250137862982228e-06, + "track": 9.071567887986021e-07, + "acceleration": 9.32184138946468e-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": 1.0624115020618774e-05, + "observation_loss": 6.129028861323604e-06, + "chamfer": 4.924764198221965e-06, + "track": 1.2042645494148019e-06, + "acceleration": 4.4950866140425205e-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": 8.047740266192704e-06, + "observation_loss": 6.618071438424522e-06, + "chamfer": 5.234497621131595e-06, + "track": 1.3835738172929268e-06, + "acceleration": 1.4296687140813447e-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": 8.579567293054424e-06, + "observation_loss": 6.521014256577473e-06, + "chamfer": 5.149409389559878e-06, + "track": 1.371604867017595e-06, + "acceleration": 2.058553036476951e-06, + "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": 7.535460554208839e-06, + "observation_loss": 6.142840902612079e-06, + "chamfer": 4.886585429630941e-06, + "track": 1.2562557003548136e-06, + "acceleration": 1.392619765283598e-06, + "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": 6.716599727951689e-06, + "observation_loss": 5.903163582843263e-06, + "chamfer": 4.72154579256312e-06, + "track": 1.1816177902801428e-06, + "acceleration": 8.134363156386826e-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": 6.243267307581846e-06, + "observation_loss": 5.915869678574381e-06, + "chamfer": 4.748176706925733e-06, + "track": 1.167693085335486e-06, + "acceleration": 3.273976290074643e-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": 6.338627372315386e-06, + "observation_loss": 6.203438715601806e-06, + "chamfer": 4.9879813559527975e-06, + "track": 1.2154571322753327e-06, + "acceleration": 1.35188841454692e-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": 6.606434908462688e-06, + "observation_loss": 6.506598765554372e-06, + "chamfer": 5.231002887740033e-06, + "track": 1.2755959915011772e-06, + "acceleration": 9.983623527887175e-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": 6.84764881953015e-06, + "observation_loss": 6.803894393669907e-06, + "chamfer": 5.484066150529543e-06, + "track": 1.3198284705140395e-06, + "acceleration": 4.375424111913162e-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": 7.137156899261754e-06, + "observation_loss": 7.045779966574628e-06, + "chamfer": 5.695123491022969e-06, + "track": 1.3506562481779838e-06, + "acceleration": 9.137689715998931e-08, + "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": 7.246275345096365e-06, + "observation_loss": 7.2148459366871975e-06, + "chamfer": 5.849654371559154e-06, + "track": 1.3651917925017187e-06, + "acceleration": 3.1429429725449154e-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": 7.484870366170071e-06, + "observation_loss": 7.408772034978028e-06, + "chamfer": 6.0168754316691775e-06, + "track": 1.3918968306825263e-06, + "acceleration": 7.609840935174361e-08, + "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": 7.491829364880687e-06, + "observation_loss": 7.320424174395157e-06, + "chamfer": 5.9548010540311225e-06, + "track": 1.3656231203640345e-06, + "acceleration": 1.714051904855296e-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": 7.249348527693655e-06, + "observation_loss": 7.0228152253548615e-06, + "chamfer": 5.7363185987924226e-06, + "track": 1.286496626562439e-06, + "acceleration": 2.265331318085373e-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": 6.952700914553134e-06, + "observation_loss": 6.846137694083154e-06, + "chamfer": 5.613726898445748e-06, + "track": 1.2324106819505687e-06, + "acceleration": 1.0656324178626164e-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": 6.957319783396088e-06, + "observation_loss": 6.834455689386232e-06, + "chamfer": 5.60596663490287e-06, + "track": 1.2284891681701993e-06, + "acceleration": 1.2286405137729162e-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": 7.066559646773385e-06, + "observation_loss": 6.881096851429902e-06, + "chamfer": 5.63853109269985e-06, + "track": 1.2425658724168898e-06, + "acceleration": 1.854629232411753e-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": 6.9262227953004185e-06, + "observation_loss": 6.780588591936976e-06, + "chamfer": 5.569206223299261e-06, + "track": 1.211382141264039e-06, + "acceleration": 1.456340328331862e-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": 6.675298664049478e-06, + "observation_loss": 6.5128579080919735e-06, + "chamfer": 5.3718631534138694e-06, + "track": 1.140994754678104e-06, + "acceleration": 1.6244095490947075e-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": 6.536730325024109e-06, + "observation_loss": 6.396618118742481e-06, + "chamfer": 5.274710474623134e-06, + "track": 1.121907416745671e-06, + "acceleration": 1.401122489141926e-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": 6.8247522904130165e-06, + "observation_loss": 6.683008905383758e-06, + "chamfer": 5.477011654875241e-06, + "track": 1.205997250508517e-06, + "acceleration": 1.4174324292071105e-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": 7.396485216304427e-06, + "observation_loss": 7.118320809240686e-06, + "chamfer": 5.781950221717125e-06, + "track": 1.3363707012103987e-06, + "acceleration": 2.7816449232886953e-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": 7.627675131516298e-06, + "observation_loss": 7.3468854679958895e-06, + "chamfer": 5.939808488619747e-06, + "track": 1.4070767520024674e-06, + "acceleration": 2.807898340506654e-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": 7.582376383652445e-06, + "observation_loss": 7.3980095294245984e-06, + "chamfer": 5.986576070426963e-06, + "track": 1.4114333453107974e-06, + "acceleration": 1.8436691107126535e-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": 7.65662935009459e-06, + "observation_loss": 7.254678166646045e-06, + "chamfer": 5.888736268389039e-06, + "track": 1.3659421256306814e-06, + "acceleration": 4.019511550268362e-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": 7.2853399615269154e-06, + "observation_loss": 7.066929356369656e-06, + "chamfer": 5.7554002523829695e-06, + "track": 1.3115293313603615e-06, + "acceleration": 2.184108325309353e-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": 7.007224212429719e-06, + "observation_loss": 6.941059837117791e-06, + "chamfer": 5.66550943403854e-06, + "track": 1.2755501757055754e-06, + "acceleration": 6.616437531192787e-08, + "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": 7.012063178990502e-06, + "observation_loss": 6.95435574016301e-06, + "chamfer": 5.6808371482475195e-06, + "track": 1.27351859191549e-06, + "acceleration": 5.7707559619757376e-08, + "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": 7.1694857979309745e-06, + "observation_loss": 7.079847819113638e-06, + "chamfer": 5.785453140561003e-06, + "track": 1.2943949059263105e-06, + "acceleration": 8.963780118165232e-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": 7.466749138984596e-06, + "observation_loss": 7.356890364462743e-06, + "chamfer": 5.989610599499429e-06, + "track": 1.3672796512764762e-06, + "acceleration": 1.0985877452185377e-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": 7.677896064706147e-06, + "observation_loss": 7.590450422867434e-06, + "chamfer": 6.163635134726064e-06, + "track": 1.4268152881413698e-06, + "acceleration": 8.74452936727721e-08, + "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": 8.087466994766146e-06, + "observation_loss": 7.934624591143802e-06, + "chamfer": 6.411958111129934e-06, + "track": 1.5226664800138678e-06, + "acceleration": 1.52842460465763e-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": 8.26921677798964e-06, + "observation_loss": 8.216230526159052e-06, + "chamfer": 6.6078723648388404e-06, + "track": 1.608357933946536e-06, + "acceleration": 5.298624117244799e-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": 8.607664312876295e-06, + "observation_loss": 8.260230060841423e-06, + "chamfer": 6.638912509515649e-06, + "track": 1.621317437638936e-06, + "acceleration": 3.474338825526502e-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": 8.3357817857177e-06, + "observation_loss": 8.259583410108462e-06, + "chamfer": 6.655654487985885e-06, + "track": 1.6039289221225772e-06, + "acceleration": 7.619792796731417e-08, + "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": 8.612362762505654e-06, + "observation_loss": 8.458349839202128e-06, + "chamfer": 6.803442374803126e-06, + "track": 1.6549079191463534e-06, + "acceleration": 1.5401305120121833e-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": 9.071516615222208e-06, + "observation_loss": 8.866071766533423e-06, + "chamfer": 7.087406629580073e-06, + "track": 1.7786649095796747e-06, + "acceleration": 2.0544479184536613e-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": 9.309608685725834e-06, + "observation_loss": 9.175553714158013e-06, + "chamfer": 7.2973398346221074e-06, + "track": 1.8782134247885551e-06, + "acceleration": 1.3405522736320563e-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": 9.425784810446203e-06, + "observation_loss": 9.30876558413729e-06, + "chamfer": 7.372032996499911e-06, + "track": 1.9367325876373798e-06, + "acceleration": 1.1701900604066395e-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": 9.54221195570426e-06, + "observation_loss": 9.472058081883006e-06, + "chamfer": 7.473915957234567e-06, + "track": 1.9981425793957897e-06, + "acceleration": 7.015388092668218e-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": 9.574223440722562e-06, + "observation_loss": 9.490977390669286e-06, + "chamfer": 7.484200523322215e-06, + "track": 2.006776867347071e-06, + "acceleration": 8.324568057105353e-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": 9.525289897283074e-06, + "observation_loss": 9.446082913200371e-06, + "chamfer": 7.451522833434865e-06, + "track": 1.994559625018155e-06, + "acceleration": 7.920666433847146e-08, + "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": 9.565040272718761e-06, + "observation_loss": 9.375976333103608e-06, + "chamfer": 7.399873993563233e-06, + "track": 1.976102566914051e-06, + "acceleration": 1.8906436594079423e-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": 9.766873517946806e-06, + "observation_loss": 9.642108125262894e-06, + "chamfer": 7.576480584248202e-06, + "track": 2.0656273136410164e-06, + "acceleration": 1.2476519373194606e-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": 1.0228977771475911e-05, + "observation_loss": 1.0153279617952649e-05, + "chamfer": 7.894999725976959e-06, + "track": 2.2582796646020142e-06, + "acceleration": 7.56981677341173e-08, + "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": 1.0820592251548078e-05, + "observation_loss": 1.0575864507700317e-05, + "chamfer": 8.173907190212049e-06, + "track": 2.4019575448619435e-06, + "acceleration": 2.4472760173921415e-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": 1.0510927495488431e-05, + "observation_loss": 1.0398131053079851e-05, + "chamfer": 8.06325078883674e-06, + "track": 2.33487980949576e-06, + "acceleration": 1.1279628608917847e-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": 1.0189310160058085e-05, + "observation_loss": 1.0042919711850118e-05, + "chamfer": 7.842241757316515e-06, + "track": 2.2006781819072785e-06, + "acceleration": 1.4639010714745382e-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": 9.823679647524841e-06, + "observation_loss": 9.778717867447995e-06, + "chamfer": 7.663838914595544e-06, + "track": 2.1148789528524503e-06, + "acceleration": 4.496169481171819e-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": 9.616172974347137e-06, + "observation_loss": 9.55624727794202e-06, + "chamfer": 7.502332664444111e-06, + "track": 2.053914613497909e-06, + "acceleration": 5.992568929968911e-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": 9.630792192183435e-06, + "observation_loss": 9.568306268192828e-06, + "chamfer": 7.498071227018954e-06, + "track": 2.0702354959212244e-06, + "acceleration": 6.248583162005161e-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": 9.722369213704951e-06, + "observation_loss": 9.629723535908852e-06, + "chamfer": 7.5319794632378034e-06, + "track": 2.0977440726710483e-06, + "acceleration": 9.264544331699653e-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": 9.688169484434184e-06, + "observation_loss": 9.616363058739807e-06, + "chamfer": 7.516813184338389e-06, + "track": 2.099550101775094e-06, + "acceleration": 7.180614147728193e-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": 9.738959306559991e-06, + "observation_loss": 9.618080184736755e-06, + "chamfer": 7.492055374314077e-06, + "track": 2.126025037796353e-06, + "acceleration": 1.208793491969118e-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": 9.873600902210455e-06, + "observation_loss": 9.637404218665324e-06, + "chamfer": 7.497296337533044e-06, + "track": 2.140107653758605e-06, + "acceleration": 2.3619668354513124e-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": 1.0203058081970084e-05, + "observation_loss": 9.703097020974383e-06, + "chamfer": 7.513631317124236e-06, + "track": 2.1894657038501464e-06, + "acceleration": 4.999614020562149e-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": 1.0421575098007452e-05, + "observation_loss": 9.760330613062251e-06, + "chamfer": 7.544797881564591e-06, + "track": 2.2155327314976603e-06, + "acceleration": 6.612444281017815e-07, + "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": 1.0059594387712423e-05, + "observation_loss": 9.762698027770966e-06, + "chamfer": 7.54146276449319e-06, + "track": 2.2212357180251274e-06, + "acceleration": 2.968963883631659e-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": 9.97043025563471e-06, + "observation_loss": 9.864433195616584e-06, + "chamfer": 7.617933988512959e-06, + "track": 2.246499207103625e-06, + "acceleration": 1.0599740107863909e-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": 1.0057321560452692e-05, + "observation_loss": 9.973294254450593e-06, + "chamfer": 7.688522600801662e-06, + "track": 2.284771881022607e-06, + "acceleration": 8.402690809816704e-08, + "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": 1.0233230568701401e-05, + "observation_loss": 1.0158664736081846e-05, + "chamfer": 7.803449989296496e-06, + "track": 2.3552149741590256e-06, + "acceleration": 7.4565747354427e-08, + "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": 1.0206661499978509e-05, + "observation_loss": 1.0136516721104272e-05, + "chamfer": 7.784500667185057e-06, + "track": 2.352015599171864e-06, + "acceleration": 7.014480729594652e-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": 1.024720404529944e-05, + "observation_loss": 1.0088895578519441e-05, + "chamfer": 7.735954568488523e-06, + "track": 2.352940555283567e-06, + "acceleration": 1.5830876520794845e-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": 1.0106150512001477e-05, + "observation_loss": 1.001562941382872e-05, + "chamfer": 7.646357516932767e-06, + "track": 2.369272124269628e-06, + "acceleration": 9.052077132309932e-08, + "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": 9.9839162430726e-06, + "observation_loss": 9.913177564158104e-06, + "chamfer": 7.550684586021816e-06, + "track": 2.3624927507626126e-06, + "acceleration": 7.073905550214477e-08, + "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": 9.982215487980284e-06, + "observation_loss": 9.781211701920256e-06, + "chamfer": 7.466800980182597e-06, + "track": 2.3144111764850095e-06, + "acceleration": 2.0100340236695047e-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": 1.0131048838957213e-05, + "observation_loss": 9.62755257205572e-06, + "chamfer": 7.387596724584e-06, + "track": 2.239956074845395e-06, + "acceleration": 5.034962100580742e-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": 9.873529052129015e-06, + "observation_loss": 9.599822078598663e-06, + "chamfer": 7.372737400146434e-06, + "track": 2.2270842237048782e-06, + "acceleration": 2.737070587954804e-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": 9.842784493230283e-06, + "observation_loss": 9.620623131922912e-06, + "chamfer": 7.399922651529778e-06, + "track": 2.2207007077668095e-06, + "acceleration": 2.2216141815079027e-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": 1.0012205166276544e-05, + "observation_loss": 9.720238267618697e-06, + "chamfer": 7.472283414244885e-06, + "track": 2.247955080747488e-06, + "acceleration": 2.9196695550126606e-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": 9.960646821127739e-06, + "observation_loss": 9.863264494924806e-06, + "chamfer": 7.565197847725358e-06, + "track": 2.2980664198257728e-06, + "acceleration": 9.738234041378746e-08, + "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": 1.0070101780002005e-05, + "observation_loss": 1.0039017979579512e-05, + "chamfer": 7.67100846132962e-06, + "track": 2.3680092908762163e-06, + "acceleration": 3.1083779106211296e-08, + "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": 1.0214816029474605e-05, + "observation_loss": 1.0179298442380968e-05, + "chamfer": 7.728871423751116e-06, + "track": 2.450427246003528e-06, + "acceleration": 3.551788552158541e-08, + "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": 1.0443202882015612e-05, + "observation_loss": 1.0350158845540136e-05, + "chamfer": 7.803648259141482e-06, + "track": 2.5465103590249782e-06, + "acceleration": 9.304378778551836e-08, + "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": 1.0867991477425676e-05, + "observation_loss": 1.068801611836534e-05, + "chamfer": 7.96953736426076e-06, + "track": 2.7184787541045807e-06, + "acceleration": 1.7997575696426793e-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": 1.12845009425655e-05, + "observation_loss": 1.105388582800515e-05, + "chamfer": 8.160025572578888e-06, + "track": 2.8938607101736125e-06, + "acceleration": 2.3061491560838476e-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": 1.1509871910675429e-05, + "observation_loss": 1.1370152606104966e-05, + "chamfer": 8.332731340487953e-06, + "track": 3.0374210382433375e-06, + "acceleration": 1.3971930457046255e-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": 1.168523340311367e-05, + "observation_loss": 1.1549913324415684e-05, + "chamfer": 8.416551281698048e-06, + "track": 3.133362270091311e-06, + "acceleration": 1.3532039133679064e-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": 1.198250083689345e-05, + "observation_loss": 1.1857897334266454e-05, + "chamfer": 8.603159585618414e-06, + "track": 3.2547375212743646e-06, + "acceleration": 1.2460334630759462e-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": 1.2410354429448489e-05, + "observation_loss": 1.2208244697831105e-05, + "chamfer": 8.796636393526569e-06, + "track": 3.411608076930861e-06, + "acceleration": 2.0210978846080252e-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": 1.2482088095566723e-05, + "observation_loss": 1.2416487152222544e-05, + "chamfer": 8.899741260393057e-06, + "track": 3.516745891829487e-06, + "acceleration": 6.560139098610307e-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": 1.260748649656307e-05, + "observation_loss": 1.2519807569333352e-05, + "chamfer": 8.946965863287915e-06, + "track": 3.572841933419113e-06, + "acceleration": 8.7678621696341e-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": 1.2668108865909744e-05, + "observation_loss": 1.2601421985891648e-05, + "chamfer": 8.993856681627221e-06, + "track": 3.6075648495170753e-06, + "acceleration": 6.668708607548979e-08, + "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": 1.2685787623922806e-05, + "observation_loss": 1.2636063729587477e-05, + "chamfer": 8.990908099804074e-06, + "track": 3.6451558571570786e-06, + "acceleration": 4.9723944073321036e-08, + "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": 1.2700260413112119e-05, + "observation_loss": 1.2654485544771887e-05, + "chamfer": 8.976525350590236e-06, + "track": 3.6779597394343e-06, + "acceleration": 4.577489676194091e-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": 1.2762620826833881e-05, + "observation_loss": 1.264774073206354e-05, + "chamfer": 8.981319297163282e-06, + "track": 3.6664214349002577e-06, + "acceleration": 1.1487995976722232e-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": 1.2720110134978313e-05, + "observation_loss": 1.2609266377694439e-05, + "chamfer": 8.96276378625771e-06, + "track": 3.6465028188104043e-06, + "acceleration": 1.1084397044669458e-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": 1.2583544048538897e-05, + "observation_loss": 1.2564530152303632e-05, + "chamfer": 8.927128874347545e-06, + "track": 3.6374010505824117e-06, + "acceleration": 1.9013869589912247e-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": 1.257329586223932e-05, + "observation_loss": 1.2522310498752631e-05, + "chamfer": 8.888810043572448e-06, + "track": 3.633500909927534e-06, + "acceleration": 5.0985452304530554e-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": 1.2572128071042243e-05, + "observation_loss": 1.2476200936362147e-05, + "chamfer": 8.851548045640811e-06, + "track": 3.624652435973985e-06, + "acceleration": 9.592757521659223e-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": 1.2460601283237338e-05, + "observation_loss": 1.2368584066280164e-05, + "chamfer": 8.793822416919284e-06, + "track": 3.5747616493608803e-06, + "acceleration": 9.201725248431103e-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": 1.2197625437693205e-05, + "observation_loss": 1.2149761460023e-05, + "chamfer": 8.675900971866213e-06, + "track": 3.473860033409437e-06, + "acceleration": 4.7864155305887834e-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": 1.0010948993037042e-05, + "chamfer_mean": 6.909080745742813e-06, + "track_mean": 2.038045943268211e-06, + "acceleration_mean": 1.0638223203277934e-06, + "observation_score": 8.947126692267679e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429712962000849 + }, + "score_arrays_file": "pass_scores/pass_end_0093.npz", + "score_arrays_sha256": "cfe46c090469c82231b219e69abe2b33cc4b6b5f893b12b172c3234e21d90da2" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0094.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0094.json new file mode 100644 index 0000000000000000000000000000000000000000..19cbb33c3a0324b19d25bc8fd078511c612cf85b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0094.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9024, + "completed_passes": 94, + "snapshot": "pass_end_0094", + "candidate": true, + "snapshot_arrays_sha256": "547b6fb85232c7bb029f81ccfe5452964f0c5a32084634b3eca25a1998727548", + "score": 8.936081928349418e-06, + "score_result": { + "score": 8.936081928349418e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0160958885971922e-06, + 3.420544317123131e-06, + 3.9874212234281e-06, + 5.145748218637891e-06, + 6.1150058172643185e-06, + 6.60553268971853e-06, + 6.516561370517593e-06, + 6.141644462331897e-06, + 5.902410521230195e-06, + 5.909499122935813e-06, + 6.192657565406989e-06, + 6.494784429378342e-06, + 6.793371539970394e-06, + 7.0397613853856456e-06, + 7.206511781987501e-06, + 7.388623544102302e-06, + 7.2977118179551326e-06, + 6.998327990004327e-06, + 6.820228009019047e-06, + 6.810111699451227e-06, + 6.856429081381066e-06, + 6.755816229997436e-06, + 6.48761169941281e-06, + 6.371633844537428e-06, + 6.656106961600017e-06, + 7.090182407409884e-06, + 7.3204300861107185e-06, + 7.373222160822479e-06, + 7.232043572003022e-06, + 7.045158326945966e-06, + 6.921180556673789e-06, + 6.936802492418792e-06, + 7.06173523212783e-06, + 7.3398841777816415e-06, + 7.573117272841046e-06, + 7.91763341112528e-06, + 8.2004553405568e-06, + 8.246128345490433e-06, + 8.244071068475023e-06, + 8.441133104497567e-06, + 8.84840301296208e-06, + 9.159201908914838e-06, + 9.292460163123906e-06, + 9.456293810217176e-06, + 9.476151717535686e-06, + 9.43129816732835e-06, + 9.362433047499508e-06, + 9.630572094465606e-06, + 1.014403642329853e-05, + 1.0567561730567832e-05, + 1.0389154340373352e-05, + 1.0034118531621061e-05, + 9.769788448465988e-06, + 9.546093679091427e-06, + 9.556222721585073e-06, + 9.617085197533015e-06, + 9.603023499948904e-06, + 9.605225386621896e-06, + 9.625422535464168e-06, + 9.691158993518911e-06, + 9.748786396812648e-06, + 9.753344784257933e-06, + 9.85721817414742e-06, + 9.969215170713142e-06, + 1.0157955330214463e-05, + 1.013866494758986e-05, + 1.0093037417391315e-05, + 1.0021004527516197e-05, + 9.9195367511129e-06, + 9.787478120415471e-06, + 9.630815839045681e-06, + 9.60102624958381e-06, + 9.619961929274723e-06, + 9.71776171354577e-06, + 9.857803888735361e-06, + 1.0030562407337129e-05, + 1.0170138921239413e-05, + 1.034037268254906e-05, + 1.0678542821551673e-05, + 1.1046320651075803e-05, + 1.1366273611201905e-05, + 1.1544560038601048e-05, + 1.1850430382764898e-05, + 1.2199904631415848e-05, + 1.2409632290655281e-05, + 1.251365574717056e-05, + 1.2594537110999227e-05, + 1.2629181583179161e-05, + 1.2646791219594888e-05, + 1.2639216038223822e-05, + 1.260227509192191e-05, + 1.2557266927615274e-05, + 1.2515454727690667e-05, + 1.246918964170618e-05, + 1.236210846400354e-05, + 1.2144804713898338e-05 + ] + ], + "episode_mean_losses": [ + 8.936081928349418e-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": 3.0160958885971922e-06, + "observation_loss": 3.0160958885971922e-06, + "chamfer": 2.5570923298801063e-06, + "track": 4.5900344503024826e-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": 4.798323061550036e-05, + "observation_loss": 3.420544317123131e-06, + "chamfer": 2.8919637315993896e-06, + "track": 5.285805855237413e-07, + "acceleration": 4.4562686525750905e-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": 2.9155351512599736e-05, + "observation_loss": 3.9874212234281e-06, + "chamfer": 3.354685077283648e-06, + "track": 6.327360893010336e-07, + "acceleration": 2.5167930289171636e-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": 1.4435011507885065e-05, + "observation_loss": 5.145748218637891e-06, + "chamfer": 4.241655460646143e-06, + "track": 9.040929285220045e-07, + "acceleration": 9.289263289247174e-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": 1.0594885679893196e-05, + "observation_loss": 6.1150058172643185e-06, + "chamfer": 4.915590579912532e-06, + "track": 1.199415009978111e-06, + "acceleration": 4.479879862628877e-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": 8.051943041209597e-06, + "observation_loss": 6.60553268971853e-06, + "chamfer": 5.226554549153661e-06, + "track": 1.3789781405648682e-06, + "acceleration": 1.4464103514910676e-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": 8.596294719609432e-06, + "observation_loss": 6.516561370517593e-06, + "chamfer": 5.146468993189046e-06, + "track": 1.3700924910153844e-06, + "acceleration": 2.0797331217181636e-06, + "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": 7.559770892839879e-06, + "observation_loss": 6.141644462331897e-06, + "chamfer": 4.885570433543762e-06, + "track": 1.2560739151012967e-06, + "acceleration": 1.4181266578816576e-06, + "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": 6.739496711816173e-06, + "observation_loss": 5.902410521230195e-06, + "chamfer": 4.720843662653351e-06, + "track": 1.181566631203168e-06, + "acceleration": 8.370862474293972e-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": 6.245792519621318e-06, + "observation_loss": 5.909499122935813e-06, + "chamfer": 4.7437288230867125e-06, + "track": 1.1657705272227759e-06, + "acceleration": 3.362933398420864e-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": 6.3285333453677595e-06, + "observation_loss": 6.192657565406989e-06, + "chamfer": 4.9808077164925635e-06, + "track": 1.2118496215407504e-06, + "acceleration": 1.3587568048478715e-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": 6.596732873731526e-06, + "observation_loss": 6.494784429378342e-06, + "chamfer": 5.223340394877596e-06, + "track": 1.2714438071270706e-06, + "acceleration": 1.0194839461519223e-07, + "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": 6.838232820882695e-06, + "observation_loss": 6.793371539970394e-06, + "chamfer": 5.476736532727955e-06, + "track": 1.3166347798687639e-06, + "acceleration": 4.486107130219352e-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": 7.135227860999294e-06, + "observation_loss": 7.0397613853856456e-06, + "chamfer": 5.690480520570418e-06, + "track": 1.3492808648152277e-06, + "acceleration": 9.546664614390465e-08, + "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": 7.23915763956029e-06, + "observation_loss": 7.206511781987501e-06, + "chamfer": 5.84310146223288e-06, + "track": 1.363410319754621e-06, + "acceleration": 3.264586467821573e-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": 7.465790531568928e-06, + "observation_loss": 7.388623544102302e-06, + "chamfer": 6.001740985084325e-06, + "track": 1.386882445331139e-06, + "acceleration": 7.716710115346359e-08, + "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": 7.469994670827873e-06, + "observation_loss": 7.2977118179551326e-06, + "chamfer": 5.9379985941632185e-06, + "track": 1.3597134511655895e-06, + "acceleration": 1.7228300919214234e-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": 7.227201876958134e-06, + "observation_loss": 6.998327990004327e-06, + "chamfer": 5.71832151763374e-06, + "track": 1.280006586057425e-06, + "acceleration": 2.288738869538065e-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": 6.927218237251509e-06, + "observation_loss": 6.820228009019047e-06, + "chamfer": 5.594461072178092e-06, + "track": 1.2257667094672797e-06, + "acceleration": 1.069904058681459e-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": 6.932858923391905e-06, + "observation_loss": 6.810111699451227e-06, + "chamfer": 5.5879982028272934e-06, + "track": 1.2221132692502579e-06, + "acceleration": 1.227471813081138e-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": 7.040074706310406e-06, + "observation_loss": 6.856429081381066e-06, + "chamfer": 5.620313913823338e-06, + "track": 1.2361150538708898e-06, + "acceleration": 1.836453975556651e-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": 6.900445441715419e-06, + "observation_loss": 6.755816229997436e-06, + "chamfer": 5.550790774577763e-06, + "track": 1.2050255691065104e-06, + "acceleration": 1.4462914066371013e-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": 6.647030659223674e-06, + "observation_loss": 6.48761169941281e-06, + "chamfer": 5.352601874619722e-06, + "track": 1.1350097111062496e-06, + "acceleration": 1.5941895981086418e-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": 6.513442258437863e-06, + "observation_loss": 6.371633844537428e-06, + "chamfer": 5.255570613371674e-06, + "track": 1.1160632311657537e-06, + "acceleration": 1.418082575810331e-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": 6.7992541517014615e-06, + "observation_loss": 6.656106961600017e-06, + "chamfer": 5.456787221191917e-06, + "track": 1.1993196267212625e-06, + "acceleration": 1.4314700536033342e-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": 7.367371381405974e-06, + "observation_loss": 7.090182407409884e-06, + "chamfer": 5.761194643127965e-06, + "track": 1.3289875369082438e-06, + "acceleration": 2.7718894557438034e-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": 7.599233867949806e-06, + "observation_loss": 7.3204300861107185e-06, + "chamfer": 5.920378498558421e-06, + "track": 1.4000515875522979e-06, + "acceleration": 2.78803611308831e-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": 7.55730934542953e-06, + "observation_loss": 7.373222160822479e-06, + "chamfer": 5.968171080894535e-06, + "track": 1.4050511936147814e-06, + "acceleration": 1.8408722723961546e-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": 7.635891051904764e-06, + "observation_loss": 7.232043572003022e-06, + "chamfer": 5.8718187574413605e-06, + "track": 1.3602245871879859e-06, + "acceleration": 4.038475083234516e-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": 7.265936801559292e-06, + "observation_loss": 7.045158326945966e-06, + "chamfer": 5.7389265748497564e-06, + "track": 1.3062318657830474e-06, + "acceleration": 2.2077827566135966e-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": 6.989473149587866e-06, + "observation_loss": 6.921180556673789e-06, + "chamfer": 5.65040681976825e-06, + "track": 1.2707738505923771e-06, + "acceleration": 6.829246501638409e-08, + "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": 6.993182068981696e-06, + "observation_loss": 6.936802492418792e-06, + "chamfer": 5.66747394259437e-06, + "track": 1.26932866351126e-06, + "acceleration": 5.637972577687833e-08, + "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": 7.149549674068112e-06, + "observation_loss": 7.06173523212783e-06, + "chamfer": 5.771627911599353e-06, + "track": 1.2901072068416397e-06, + "acceleration": 8.781439220229004e-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": 7.448884389305022e-06, + "observation_loss": 7.3398841777816415e-06, + "chamfer": 5.976575266686268e-06, + "track": 1.3633091384690488e-06, + "acceleration": 1.0900000546598676e-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": 7.66036373534007e-06, + "observation_loss": 7.573117272841046e-06, + "chamfer": 6.150435638119234e-06, + "track": 1.4226816347218119e-06, + "acceleration": 8.724626354705833e-08, + "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": 8.068755960266571e-06, + "observation_loss": 7.91763341112528e-06, + "chamfer": 6.399266112566693e-06, + "track": 1.5183671848717495e-06, + "acceleration": 1.511221370265048e-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": 8.253487067122478e-06, + "observation_loss": 8.2004553405568e-06, + "chamfer": 6.596199909836287e-06, + "track": 1.6042550896600005e-06, + "acceleration": 5.30318899905069e-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": 8.592683116148692e-06, + "observation_loss": 8.246128345490433e-06, + "chamfer": 6.628979463130236e-06, + "track": 1.6171484276128467e-06, + "acceleration": 3.4655460012800177e-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": 8.320439519593492e-06, + "observation_loss": 8.244071068475023e-06, + "chamfer": 6.6448569668864366e-06, + "track": 1.5992136468412355e-06, + "acceleration": 7.636842980218717e-08, + "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": 8.596518455306068e-06, + "observation_loss": 8.441133104497567e-06, + "chamfer": 6.791360647184774e-06, + "track": 1.6497725709996303e-06, + "acceleration": 1.5538525133251824e-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": 9.053297617356293e-06, + "observation_loss": 8.84840301296208e-06, + "chamfer": 7.075271241774317e-06, + "track": 1.7731318848746014e-06, + "acceleration": 2.048941638577162e-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": 9.293616130889859e-06, + "observation_loss": 9.159201908914838e-06, + "chamfer": 7.286034360731719e-06, + "track": 1.8731672071226058e-06, + "acceleration": 1.344138809145079e-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": 9.408785444975365e-06, + "observation_loss": 9.292460163123906e-06, + "chamfer": 7.360722065641312e-06, + "track": 1.9317385522299446e-06, + "acceleration": 1.1632553054141681e-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": 9.525205314275809e-06, + "observation_loss": 9.456293810217176e-06, + "chamfer": 7.463190286216559e-06, + "track": 1.9931032966269413e-06, + "acceleration": 6.891142589893207e-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": 9.559284990245942e-06, + "observation_loss": 9.476151717535686e-06, + "chamfer": 7.474060112144798e-06, + "track": 2.002091832764563e-06, + "acceleration": 8.313288191175161e-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": 9.510820746072568e-06, + "observation_loss": 9.43129816732835e-06, + "chamfer": 7.441353773174342e-06, + "track": 1.989944166780333e-06, + "acceleration": 7.95223371596876e-08, + "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": 9.552146366331726e-06, + "observation_loss": 9.362433047499508e-06, + "chamfer": 7.390512564597884e-06, + "track": 1.9719200281542726e-06, + "acceleration": 1.8971330462136393e-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": 9.75541024672566e-06, + "observation_loss": 9.630572094465606e-06, + "chamfer": 7.568533874291461e-06, + "track": 2.0620379928004695e-06, + "acceleration": 1.2483801015150675e-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": 1.0220378499070648e-05, + "observation_loss": 1.014403642329853e-05, + "chamfer": 7.888713298598304e-06, + "track": 2.2553228973265504e-06, + "acceleration": 7.634240262177627e-08, + "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": 1.0812754226208199e-05, + "observation_loss": 1.0567561730567832e-05, + "chamfer": 8.168368367478251e-06, + "track": 2.39919336308958e-06, + "acceleration": 2.451921261581447e-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": 1.0502862096473109e-05, + "observation_loss": 1.0389154340373352e-05, + "chamfer": 8.057060767896473e-06, + "track": 2.332093117729528e-06, + "acceleration": 1.1370813979283412e-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": 1.0181475772697013e-05, + "observation_loss": 1.0034118531621061e-05, + "chamfer": 7.836250006221235e-06, + "track": 2.197868752773502e-06, + "acceleration": 1.4735690001543844e-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": 9.814772965910379e-06, + "observation_loss": 9.769788448465988e-06, + "chamfer": 7.658019967493601e-06, + "track": 2.1117682535987115e-06, + "acceleration": 4.498414085674085e-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": 9.605285413272213e-06, + "observation_loss": 9.546093679091427e-06, + "chamfer": 7.495705631299643e-06, + "track": 2.05038827516546e-06, + "acceleration": 5.9192124979290384e-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": 9.618763215257786e-06, + "observation_loss": 9.556222721585073e-06, + "chamfer": 7.490282769140322e-06, + "track": 2.0659404071921017e-06, + "acceleration": 6.254016682305519e-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": 9.70939527178416e-06, + "observation_loss": 9.617085197533015e-06, + "chamfer": 7.52390815250692e-06, + "track": 2.09317681765242e-06, + "acceleration": 9.231030162482057e-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": 9.67250616668025e-06, + "observation_loss": 9.603023499948904e-06, + "chamfer": 7.508214821427828e-06, + "track": 2.094809133268427e-06, + "acceleration": 6.948252462279925e-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": 9.72626730799675e-06, + "observation_loss": 9.605225386621896e-06, + "chamfer": 7.483798526664032e-06, + "track": 2.1214268599578645e-06, + "acceleration": 1.2104156610348582e-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": 9.867782864603214e-06, + "observation_loss": 9.625422535464168e-06, + "chamfer": 7.489838480978506e-06, + "track": 2.135584509233013e-06, + "acceleration": 2.423606133561407e-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": 1.02016811069916e-05, + "observation_loss": 9.691158993518911e-06, + "chamfer": 7.506091151299188e-06, + "track": 2.185068069593399e-06, + "acceleration": 5.105222271595267e-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": 1.0418009878776502e-05, + "observation_loss": 9.748786396812648e-06, + "chamfer": 7.537714282079833e-06, + "track": 2.211072114732815e-06, + "acceleration": 6.6922319774676e-07, + "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": 1.0054306585516315e-05, + "observation_loss": 9.753344784257933e-06, + "chamfer": 7.536192242696416e-06, + "track": 2.2171523141878424e-06, + "acceleration": 3.0096171599325316e-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": 9.964181117538828e-06, + "observation_loss": 9.85721817414742e-06, + "chamfer": 7.614154128532391e-06, + "track": 2.2430640456150286e-06, + "acceleration": 1.0696274443944276e-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": 1.0053655387309846e-05, + "observation_loss": 9.969215170713142e-06, + "chamfer": 7.686533535888884e-06, + "track": 2.2826818621979328e-06, + "acceleration": 8.443995369589175e-08, + "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": 1.023151617118856e-05, + "observation_loss": 1.0157955330214463e-05, + "chamfer": 7.803485459589865e-06, + "track": 2.354469870624598e-06, + "acceleration": 7.3560975977216e-08, + "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": 1.0208358617092017e-05, + "observation_loss": 1.013866494758986e-05, + "chamfer": 7.78629782871576e-06, + "track": 2.3523668915004237e-06, + "acceleration": 6.96933710742087e-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": 1.0252303582092281e-05, + "observation_loss": 1.0093037417391315e-05, + "chamfer": 7.739305146969855e-06, + "track": 2.3537324977951357e-06, + "acceleration": 1.592660510141286e-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": 1.0112699783348944e-05, + "observation_loss": 1.0021004527516197e-05, + "chamfer": 7.65035565564176e-06, + "track": 2.370649099248112e-06, + "acceleration": 9.169487213966931e-08, + "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": 9.9908420452266e-06, + "observation_loss": 9.9195367511129e-06, + "chamfer": 7.555336196674034e-06, + "track": 2.364200781812542e-06, + "acceleration": 7.130500989660504e-08, + "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": 9.990058060793672e-06, + "observation_loss": 9.787478120415471e-06, + "chamfer": 7.471620847354643e-06, + "track": 2.315857045687153e-06, + "acceleration": 2.0257994037820026e-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": 1.0136981472896878e-05, + "observation_loss": 9.630815839045681e-06, + "chamfer": 7.39012557460228e-06, + "track": 2.2406898096960504e-06, + "acceleration": 5.061653496341023e-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": 9.876615877146833e-06, + "observation_loss": 9.60102624958381e-06, + "chamfer": 7.373677817668067e-06, + "track": 2.2273484319157433e-06, + "acceleration": 2.7558968440644094e-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": 9.841755854722578e-06, + "observation_loss": 9.619961929274723e-06, + "chamfer": 7.399418791464996e-06, + "track": 2.2205426830623765e-06, + "acceleration": 2.2179385439358157e-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": 1.0005896911025047e-05, + "observation_loss": 9.71776171354577e-06, + "chamfer": 7.470657237718115e-06, + "track": 2.2471047032013303e-06, + "acceleration": 2.881349701056024e-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": 9.954390407074243e-06, + "observation_loss": 9.857803888735361e-06, + "chamfer": 7.561749498563586e-06, + "track": 2.296054617545451e-06, + "acceleration": 9.658621991093241e-08, + "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": 1.0061808097816538e-05, + "observation_loss": 1.0030562407337129e-05, + "chamfer": 7.665567864023615e-06, + "track": 2.3649945433135144e-06, + "acceleration": 3.1245999565499005e-08, + "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": 1.020642594085075e-05, + "observation_loss": 1.0170138921239413e-05, + "chamfer": 7.723306225670967e-06, + "track": 2.4468324681947706e-06, + "acceleration": 3.628685263379339e-08, + "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": 1.0433572242618538e-05, + "observation_loss": 1.034037268254906e-05, + "chamfer": 7.797910257067997e-06, + "track": 2.5424628802284133e-06, + "acceleration": 9.319938243379511e-08, + "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": 1.085960138880182e-05, + "observation_loss": 1.0678542821551673e-05, + "chamfer": 7.964222277223598e-06, + "track": 2.714320999075426e-06, + "acceleration": 1.8105836829818145e-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": 1.1267725312791299e-05, + "observation_loss": 1.1046320651075803e-05, + "chamfer": 8.15521980257472e-06, + "track": 2.891101075874758e-06, + "acceleration": 2.2140484645660763e-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": 1.1505149814183824e-05, + "observation_loss": 1.1366273611201905e-05, + "chamfer": 8.330225682584569e-06, + "track": 3.0360483833646867e-06, + "acceleration": 1.3887640193388506e-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": 1.167577374872053e-05, + "observation_loss": 1.1544560038601048e-05, + "chamfer": 8.41312521515647e-06, + "track": 3.1314345960709034e-06, + "acceleration": 1.3121363906520855e-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": 1.1979462215094827e-05, + "observation_loss": 1.1850430382764898e-05, + "chamfer": 8.598635758971795e-06, + "track": 3.2517950785404537e-06, + "acceleration": 1.2903156232368929e-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": 1.2403261280269362e-05, + "observation_loss": 1.2199904631415848e-05, + "chamfer": 8.792339940555394e-06, + "track": 3.4075649182341294e-06, + "acceleration": 2.0335706096830108e-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": 1.2475681614887435e-05, + "observation_loss": 1.2409632290655281e-05, + "chamfer": 8.896508006728254e-06, + "track": 3.513124283927027e-06, + "acceleration": 6.604948055155546e-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": 1.2601845810422674e-05, + "observation_loss": 1.251365574717056e-05, + "chamfer": 8.944208275352139e-06, + "track": 3.569447471818421e-06, + "acceleration": 8.819023378237034e-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": 1.2661429536819924e-05, + "observation_loss": 1.2594537110999227e-05, + "chamfer": 8.990668902697507e-06, + "track": 3.603867980928044e-06, + "acceleration": 6.68927953029197e-08, + "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": 1.2679221072176006e-05, + "observation_loss": 1.2629181583179161e-05, + "chamfer": 8.987769433588255e-06, + "track": 3.6414119222172303e-06, + "acceleration": 5.003963821081925e-08, + "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": 1.2690779840340838e-05, + "observation_loss": 1.2646791219594888e-05, + "chamfer": 8.972807336249389e-06, + "track": 3.673983655971824e-06, + "acceleration": 4.3988212183876385e-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": 1.275242721021641e-05, + "observation_loss": 1.2639216038223822e-05, + "chamfer": 8.977220204542391e-06, + "track": 3.661996061055106e-06, + "acceleration": 1.132109517243407e-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": 1.2712273019133136e-05, + "observation_loss": 1.260227509192191e-05, + "chamfer": 8.95917310117511e-06, + "track": 3.643101535999449e-06, + "acceleration": 1.0999751509643829e-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": 1.2574766515172087e-05, + "observation_loss": 1.2557266927615274e-05, + "chamfer": 8.92303796717897e-06, + "track": 3.6342287330626277e-06, + "acceleration": 1.7499306892432287e-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": 1.2564952157845255e-05, + "observation_loss": 1.2515454727690667e-05, + "chamfer": 8.885187526175287e-06, + "track": 3.630267656262731e-06, + "acceleration": 4.949731646775035e-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": 1.256448285857914e-05, + "observation_loss": 1.246918964170618e-05, + "chamfer": 8.847788194543682e-06, + "track": 3.621401447162498e-06, + "acceleration": 9.529347977377256e-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": 1.2454795978555921e-05, + "observation_loss": 1.236210846400354e-05, + "chamfer": 8.790329047769774e-06, + "track": 3.5717796436074423e-06, + "acceleration": 9.268706691045736e-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": 1.2192592294013593e-05, + "observation_loss": 1.2144804713898338e-05, + "chamfer": 8.673224328958895e-06, + "track": 3.4715803849394433e-06, + "acceleration": 4.7787914070340776e-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": 9.99937750142029e-06, + "chamfer_mean": 6.901499032115528e-06, + "track_mean": 2.0345828843915115e-06, + "acceleration_mean": 1.0632955116755365e-06, + "observation_score": 8.936081928349418e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4305708009997034 + }, + "score_arrays_file": "pass_scores/pass_end_0094.npz", + "score_arrays_sha256": "0bc4435008b1d8654044dd762acbd07458efe129a5df7e17b41c0b13dceae4b0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0095.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0095.json new file mode 100644 index 0000000000000000000000000000000000000000..f199db93414fd4f46edac03fe18569434f7cac5f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0095.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9120, + "completed_passes": 95, + "snapshot": "pass_end_0095", + "candidate": true, + "snapshot_arrays_sha256": "28f78321c6bbb5bcdd4487433b0b7093c497c985c72864362d232cce091b1d59", + "score": 8.925034064096357e-06, + "score_result": { + "score": 8.925034064096357e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.0138671718304977e-06, + 3.418789901843411e-06, + 3.981675035902299e-06, + 5.134290404384956e-06, + 6.1009668570477515e-06, + 6.592683348571882e-06, + 6.511413630505558e-06, + 6.139789547887631e-06, + 5.901131316932151e-06, + 5.9031162891187705e-06, + 6.182639936014311e-06, + 6.481275249825558e-06, + 6.780838248232612e-06, + 7.028383606666466e-06, + 7.187049504864262e-06, + 7.368427759502083e-06, + 7.273914434335893e-06, + 6.974429652473191e-06, + 6.796203706471715e-06, + 6.786431185901165e-06, + 6.832604867668124e-06, + 6.732803285558475e-06, + 6.463779754994903e-06, + 6.34832485957304e-06, + 6.6299376157985535e-06, + 7.063792509143241e-06, + 7.295031082321657e-06, + 7.349613497353857e-06, + 7.210556759673636e-06, + 7.025301783869509e-06, + 6.902416771481512e-06, + 6.920485702721635e-06, + 7.045876373013016e-06, + 7.325037131522549e-06, + 7.559030564152636e-06, + 7.904171070549637e-06, + 8.187726052710786e-06, + 8.234195775003172e-06, + 8.230572348111309e-06, + 8.425704436376691e-06, + 8.832457751850598e-06, + 9.144298928731587e-06, + 9.277347999159247e-06, + 9.441058864467777e-06, + 9.461233275942504e-06, + 9.415945896762423e-06, + 9.347522791358642e-06, + 9.617284376872703e-06, + 1.0133446266991086e-05, + 1.0558294889051467e-05, + 1.0379646482761018e-05, + 1.0024121365859173e-05, + 9.759762178873643e-06, + 9.534989658277482e-06, + 9.543372470943723e-06, + 9.604282240616158e-06, + 9.589697583578527e-06, + 9.592340575181879e-06, + 9.613625479687471e-06, + 9.679293725639582e-06, + 9.737685104482807e-06, + 9.744029739522375e-06, + 9.849188245425466e-06, + 9.96395101537928e-06, + 1.0155458767258096e-05, + 1.0138273864868097e-05, + 1.0095028301293496e-05, + 1.002445787889883e-05, + 9.924366167979315e-06, + 9.79251490207389e-06, + 9.633825357013848e-06, + 9.602223144611344e-06, + 9.619132470106706e-06, + 9.71507870417554e-06, + 9.85297629085835e-06, + 1.0023404684034176e-05, + 1.0161573300138116e-05, + 1.0331119483453222e-05, + 1.067064113158267e-05, + 1.1039169294235762e-05, + 1.1362306395312771e-05, + 1.153999528469285e-05, + 1.1843249922094401e-05, + 1.2191763744340278e-05, + 1.2403274013195187e-05, + 1.2507451174315065e-05, + 1.258789052371867e-05, + 1.2621625501196831e-05, + 1.2639289707294665e-05, + 1.2630646779143717e-05, + 1.2594182408065535e-05, + 1.2550009159895126e-05, + 1.2507831343100406e-05, + 1.2461476217140444e-05, + 1.235507988894824e-05, + 1.213879841088783e-05 + ] + ], + "episode_mean_losses": [ + 8.925034064096357e-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": 3.0138671718304977e-06, + "observation_loss": 3.0138671718304977e-06, + "chamfer": 2.5552358238201123e-06, + "track": 4.58631319588676e-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": 4.788902515429072e-05, + "observation_loss": 3.418789901843411e-06, + "chamfer": 2.8905226372444304e-06, + "track": 5.282672645989805e-07, + "acceleration": 4.4470234570326284e-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": 2.9110788091202267e-05, + "observation_loss": 3.981675035902299e-06, + "chamfer": 3.350123051859555e-06, + "track": 6.31552040886163e-07, + "acceleration": 2.5129113055299968e-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": 1.4388959243660793e-05, + "observation_loss": 5.134290404384956e-06, + "chamfer": 4.233218078297796e-06, + "track": 9.010721555569035e-07, + "acceleration": 9.254668839275837e-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": 1.0566700439085253e-05, + "observation_loss": 6.1009668570477515e-06, + "chamfer": 4.906349658995168e-06, + "track": 1.1946171980525833e-06, + "acceleration": 4.465734036784852e-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": 8.057332706812304e-06, + "observation_loss": 6.592683348571882e-06, + "chamfer": 5.2183709158271085e-06, + "track": 1.3743126601184485e-06, + "acceleration": 1.4646493582404219e-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": 8.606470146332867e-06, + "observation_loss": 6.511413630505558e-06, + "chamfer": 5.14306475452031e-06, + "track": 1.3683487622984103e-06, + "acceleration": 2.0950569705746602e-06, + "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": 7.5744032983493526e-06, + "observation_loss": 6.139789547887631e-06, + "chamfer": 4.884134341409663e-06, + "track": 1.2556549791042926e-06, + "acceleration": 1.4346138641485595e-06, + "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": 6.7576029323390685e-06, + "observation_loss": 5.901131316932151e-06, + "chamfer": 4.719774096884066e-06, + "track": 1.1813571063612471e-06, + "acceleration": 8.564716154069174e-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": 6.246938937692903e-06, + "observation_loss": 5.9031162891187705e-06, + "chamfer": 4.739311407320201e-06, + "track": 1.1638048817985691e-06, + "acceleration": 3.4382253488729475e-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": 6.31878174317535e-06, + "observation_loss": 6.182639936014311e-06, + "chamfer": 4.974221610609675e-06, + "track": 1.2084182117177988e-06, + "acceleration": 1.361419634804406e-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": 6.5853341766342055e-06, + "observation_loss": 6.481275249825558e-06, + "chamfer": 5.214641532802489e-06, + "track": 1.2666338307099068e-06, + "acceleration": 1.0405884154351952e-07, + "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": 6.825950094935251e-06, + "observation_loss": 6.780838248232612e-06, + "chamfer": 5.4683232519892044e-06, + "track": 1.3125151099302457e-06, + "acceleration": 4.511162643439093e-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": 7.115801963664126e-06, + "observation_loss": 7.028383606666466e-06, + "chamfer": 5.6826638683560304e-06, + "track": 1.3457198519972735e-06, + "acceleration": 8.741841384107829e-08, + "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": 7.218275641207583e-06, + "observation_loss": 7.187049504864262e-06, + "chamfer": 5.829087967867963e-06, + "track": 1.3579616506831371e-06, + "acceleration": 3.122635661156892e-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": 7.447129519277951e-06, + "observation_loss": 7.368427759502083e-06, + "chamfer": 5.9871640587516595e-06, + "track": 1.3812638144372613e-06, + "acceleration": 7.870183793556862e-08, + "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": 7.444833045155974e-06, + "observation_loss": 7.273914434335893e-06, + "chamfer": 5.920657258684514e-06, + "track": 1.3532570619645412e-06, + "acceleration": 1.7091859660922637e-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": 7.19950367056299e-06, + "observation_loss": 6.974429652473191e-06, + "chamfer": 5.700889687432209e-06, + "track": 1.273539851354144e-06, + "acceleration": 2.2507379071612377e-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": 6.90185652274522e-06, + "observation_loss": 6.796203706471715e-06, + "chamfer": 5.576632247539237e-06, + "track": 1.2195716863061534e-06, + "acceleration": 1.0565285890606901e-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": 6.905424470460275e-06, + "observation_loss": 6.786431185901165e-06, + "chamfer": 5.570650046138326e-06, + "track": 1.2157811397628393e-06, + "acceleration": 1.1899314955599039e-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": 7.01330372976372e-06, + "observation_loss": 6.832604867668124e-06, + "chamfer": 5.602860255748965e-06, + "track": 1.2297447256059968e-06, + "acceleration": 1.8069866314363026e-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": 6.877528903714847e-06, + "observation_loss": 6.732803285558475e-06, + "chamfer": 5.533856437978102e-06, + "track": 1.198946961267211e-06, + "acceleration": 1.4472543341526034e-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": 6.62243064653012e-06, + "observation_loss": 6.463779754994903e-06, + "chamfer": 5.334583875082899e-06, + "track": 1.1291957662251662e-06, + "acceleration": 1.5865107627632824e-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": 6.491759904747596e-06, + "observation_loss": 6.34832485957304e-06, + "chamfer": 5.237915502220858e-06, + "track": 1.1104093573521823e-06, + "acceleration": 1.4343487464429927e-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": 6.775572273909347e-06, + "observation_loss": 6.6299376157985535e-06, + "chamfer": 5.437279014586238e-06, + "track": 1.1926586012123153e-06, + "acceleration": 1.456346865325031e-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": 7.339464900724124e-06, + "observation_loss": 7.063792509143241e-06, + "chamfer": 5.741945187764941e-06, + "track": 1.3218475487519754e-06, + "acceleration": 2.7567253368943057e-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": 7.571959486085689e-06, + "observation_loss": 7.295031082321657e-06, + "chamfer": 5.901879376324359e-06, + "track": 1.3931517059972975e-06, + "acceleration": 2.769284890291601e-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": 7.5336656664148904e-06, + "observation_loss": 7.349613497353857e-06, + "chamfer": 5.9507556215976365e-06, + "track": 1.3988577620693832e-06, + "acceleration": 1.8405228274787078e-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": 7.614247806486674e-06, + "observation_loss": 7.210556759673636e-06, + "chamfer": 5.855851668457035e-06, + "track": 1.3547052049034392e-06, + "acceleration": 4.0369121734329383e-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": 7.247798293974483e-06, + "observation_loss": 7.025301783869509e-06, + "chamfer": 5.724004495277768e-06, + "track": 1.301297515965416e-06, + "acceleration": 2.2249665221352188e-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": 6.970818958507152e-06, + "observation_loss": 6.902416771481512e-06, + "chamfer": 5.636147307086503e-06, + "track": 1.266269464395009e-06, + "acceleration": 6.840209465508451e-08, + "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": 6.975581527512986e-06, + "observation_loss": 6.920485702721635e-06, + "chamfer": 5.655088443745626e-06, + "track": 1.2653972589760087e-06, + "acceleration": 5.5095760842505115e-08, + "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": 7.131889560696436e-06, + "observation_loss": 7.045876373013016e-06, + "chamfer": 5.75952481085551e-06, + "track": 1.2863517895311816e-06, + "acceleration": 8.601312373457404e-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": 7.433044174831593e-06, + "observation_loss": 7.325037131522549e-06, + "chamfer": 5.96518793827272e-06, + "track": 1.3598493069366668e-06, + "acceleration": 1.0800687988421487e-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": 7.6466822065413e-06, + "observation_loss": 7.559030564152636e-06, + "chamfer": 6.1396744968078565e-06, + "track": 1.4193561810316169e-06, + "acceleration": 8.765149317468968e-08, + "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": 8.054717000050005e-06, + "observation_loss": 7.904171070549637e-06, + "chamfer": 6.3891379795677494e-06, + "track": 1.5150330909818877e-06, + "acceleration": 1.5054583002438449e-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": 8.24043218017323e-06, + "observation_loss": 8.187726052710786e-06, + "chamfer": 6.5867038756550755e-06, + "track": 1.6010224044293864e-06, + "acceleration": 5.27063228616953e-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": 8.580083886045031e-06, + "observation_loss": 8.234195775003172e-06, + "chamfer": 6.620451131311711e-06, + "track": 1.613744871065137e-06, + "acceleration": 3.4588808262014936e-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": 8.307294592668768e-06, + "observation_loss": 8.230572348111309e-06, + "chamfer": 6.635425961576402e-06, + "track": 1.5951466139085824e-06, + "acceleration": 7.672215218690326e-08, + "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": 8.581971997045912e-06, + "observation_loss": 8.425704436376691e-06, + "chamfer": 6.780452622479061e-06, + "track": 1.645251927584468e-06, + "acceleration": 1.5626787330802472e-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": 9.036903065862134e-06, + "observation_loss": 8.832457751850598e-06, + "chamfer": 7.0642581704305485e-06, + "track": 1.7681996951068868e-06, + "acceleration": 2.0444576875888743e-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": 9.278384823119268e-06, + "observation_loss": 9.144298928731587e-06, + "chamfer": 7.275793905137107e-06, + "track": 1.8685051372813177e-06, + "acceleration": 1.3408561017058673e-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": 9.39265919441823e-06, + "observation_loss": 9.277347999159247e-06, + "chamfer": 7.3502860686858185e-06, + "track": 1.9270617030997528e-06, + "acceleration": 1.1531082577675988e-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": 9.50902085605776e-06, + "observation_loss": 9.441058864467777e-06, + "chamfer": 7.452886620740173e-06, + "track": 1.988172243727604e-06, + "acceleration": 6.79618352705802e-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": 9.544706699671224e-06, + "observation_loss": 9.461233275942504e-06, + "chamfer": 7.463898327841889e-06, + "track": 1.997335402847966e-06, + "acceleration": 8.347345925585614e-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": 9.49549394135829e-06, + "observation_loss": 9.415945896762423e-06, + "chamfer": 7.4308090916019864e-06, + "track": 1.985136350413086e-06, + "acceleration": 7.954801617415796e-08, + "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": 9.538106496620458e-06, + "observation_loss": 9.347522791358642e-06, + "chamfer": 7.380247552646324e-06, + "track": 1.967275693459669e-06, + "acceleration": 1.9058373368352477e-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": 9.74231897998834e-06, + "observation_loss": 9.617284376872703e-06, + "chamfer": 7.55941255192738e-06, + "track": 2.0578715975716477e-06, + "acceleration": 1.2503467416991043e-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": 1.0210533218923956e-05, + "observation_loss": 1.0133446266991086e-05, + "chamfer": 7.881658348196652e-06, + "track": 2.2517879187944345e-06, + "acceleration": 7.70868595623142e-08, + "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": 1.0803740224218927e-05, + "observation_loss": 1.0558294889051467e-05, + "chamfer": 8.162318408722058e-06, + "track": 2.3959767077030847e-06, + "acceleration": 2.45445590962845e-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": 1.0494035450392403e-05, + "observation_loss": 1.0379646482761018e-05, + "chamfer": 8.05062063591322e-06, + "track": 2.329025392100448e-06, + "acceleration": 1.1438937974617147e-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": 1.0171796930080745e-05, + "observation_loss": 1.0024121365859173e-05, + "chamfer": 7.829436071915552e-06, + "track": 2.1946855213172967e-06, + "acceleration": 1.4767549316729855e-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": 9.804433830140624e-06, + "observation_loss": 9.759762178873643e-06, + "chamfer": 7.651487067050766e-06, + "track": 2.1082753391965525e-06, + "acceleration": 4.4672066934481336e-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": 9.593994946044404e-06, + "observation_loss": 9.534989658277482e-06, + "chamfer": 7.488434221158968e-06, + "track": 2.046555664492189e-06, + "acceleration": 5.900535882119584e-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": 9.606528692529537e-06, + "observation_loss": 9.543372470943723e-06, + "chamfer": 7.481927241315134e-06, + "track": 2.0614454570022644e-06, + "acceleration": 6.315623579666862e-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": 9.696124834590591e-06, + "observation_loss": 9.604282240616158e-06, + "chamfer": 7.515679044445278e-06, + "track": 2.088602968797204e-06, + "acceleration": 9.184233107362161e-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": 9.657724149292335e-06, + "observation_loss": 9.589697583578527e-06, + "chamfer": 7.499490948248422e-06, + "track": 2.0902064079564298e-06, + "acceleration": 6.802655150295323e-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": 9.715127816889435e-06, + "observation_loss": 9.592340575181879e-06, + "chamfer": 7.475535312551074e-06, + "track": 2.1168057173781563e-06, + "acceleration": 1.2278759697892383e-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": 9.861085345619358e-06, + "observation_loss": 9.613625479687471e-06, + "chamfer": 7.482512955903076e-06, + "track": 2.1311125237843953e-06, + "acceleration": 2.474601785706909e-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": 1.0196904440817889e-05, + "observation_loss": 9.679293725639582e-06, + "chamfer": 7.49862829252379e-06, + "track": 2.180665205742116e-06, + "acceleration": 5.176110562388203e-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": 1.04132896012743e-05, + "observation_loss": 9.737685104482807e-06, + "chamfer": 7.5309976637072396e-06, + "track": 2.206687668149243e-06, + "acceleration": 6.756042125743988e-07, + "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": 1.0048925105365925e-05, + "observation_loss": 9.744029739522375e-06, + "chamfer": 7.530910352215869e-06, + "track": 2.213118932559155e-06, + "acceleration": 3.048956500606437e-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": 9.957752808986697e-06, + "observation_loss": 9.849188245425466e-06, + "chamfer": 7.609739895997336e-06, + "track": 2.2394483494281303e-06, + "acceleration": 1.0856473409148748e-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": 1.0049819138657767e-05, + "observation_loss": 9.96395101537928e-06, + "chamfer": 7.683750482101459e-06, + "track": 2.28020007853047e-06, + "acceleration": 8.586783195596581e-08, + "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": 1.0228815881418996e-05, + "observation_loss": 1.0155458767258096e-05, + "chamfer": 7.802314939908683e-06, + "track": 2.3531440547230886e-06, + "acceleration": 7.335741258884809e-08, + "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": 1.0207824743702076e-05, + "observation_loss": 1.0138273864868097e-05, + "chamfer": 7.786380592733622e-06, + "track": 2.3518937268818263e-06, + "acceleration": 6.955092146654351e-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": 1.025532401399687e-05, + "observation_loss": 1.0095028301293496e-05, + "chamfer": 7.74115960666677e-06, + "track": 2.3538689220004017e-06, + "acceleration": 1.6029557059482613e-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": 1.0117420060851146e-05, + "observation_loss": 1.002445787889883e-05, + "chamfer": 7.652952263015322e-06, + "track": 2.3715058432571823e-06, + "acceleration": 9.296208247633331e-08, + "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": 9.996419066737872e-06, + "observation_loss": 9.924366167979315e-06, + "chamfer": 7.558957804576494e-06, + "track": 2.365408363402821e-06, + "acceleration": 7.205277796629161e-08, + "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": 9.99716758087743e-06, + "observation_loss": 9.79251490207389e-06, + "chamfer": 7.4755243986146525e-06, + "track": 2.3169905034592375e-06, + "acceleration": 2.0465283512294263e-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": 1.0143105100723915e-05, + "observation_loss": 9.633825357013848e-06, + "chamfer": 7.392528914351715e-06, + "track": 2.241296442662133e-06, + "acceleration": 5.092794594929728e-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": 9.879486242425628e-06, + "observation_loss": 9.602223144611344e-06, + "chamfer": 7.374635515589034e-06, + "track": 2.2275871742749587e-06, + "acceleration": 2.772626714886428e-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": 9.839108315645717e-06, + "observation_loss": 9.619132470106706e-06, + "chamfer": 7.398859452223405e-06, + "track": 2.2202732452569762e-06, + "acceleration": 2.199756892196092e-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": 9.994388165068813e-06, + "observation_loss": 9.71507870417554e-06, + "chamfer": 7.468880994565552e-06, + "track": 2.246198164357338e-06, + "acceleration": 2.793096030018205e-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": 9.947691978595685e-06, + "observation_loss": 9.85297629085835e-06, + "chamfer": 7.558783636341104e-06, + "track": 2.2941931092645973e-06, + "acceleration": 9.471583695130903e-08, + "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": 1.0054578524432145e-05, + "observation_loss": 1.0023404684034176e-05, + "chamfer": 7.661116796953138e-06, + "track": 2.362288341828389e-06, + "acceleration": 3.117371605299013e-08, + "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": 1.0197803931077942e-05, + "observation_loss": 1.0161573300138116e-05, + "chamfer": 7.718171218584757e-06, + "track": 2.4434020815533586e-06, + "acceleration": 3.623063093982637e-08, + "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": 1.0425213986309245e-05, + "observation_loss": 1.0331119483453222e-05, + "chamfer": 7.792683391016908e-06, + "track": 2.5384365471836645e-06, + "acceleration": 9.409433232576703e-08, + "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": 1.0852695595531259e-05, + "observation_loss": 1.067064113158267e-05, + "chamfer": 7.959954018588178e-06, + "track": 2.7106868856208166e-06, + "acceleration": 1.820547197439737e-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": 1.1247691872995347e-05, + "observation_loss": 1.1039169294235762e-05, + "chamfer": 8.150881512847263e-06, + "track": 2.8882880087621743e-06, + "acceleration": 2.0852253612702043e-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": 1.1496849765535444e-05, + "observation_loss": 1.1362306395312771e-05, + "chamfer": 8.327684554387815e-06, + "track": 3.034621386177605e-06, + "acceleration": 1.3454321390327095e-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": 1.1664786143228412e-05, + "observation_loss": 1.153999528469285e-05, + "chamfer": 8.410495865973644e-06, + "track": 3.1294991913455306e-06, + "acceleration": 1.2479114275265601e-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": 1.1975228517258074e-05, + "observation_loss": 1.1843249922094401e-05, + "chamfer": 8.594535756856203e-06, + "track": 3.248714165238198e-06, + "acceleration": 1.3197896464589576e-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": 1.2393965334922541e-05, + "observation_loss": 1.2191763744340278e-05, + "chamfer": 8.788232662482187e-06, + "track": 3.40353062711074e-06, + "acceleration": 2.0220188901021174e-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": 1.246855390490964e-05, + "observation_loss": 1.2403274013195187e-05, + "chamfer": 8.89369948708918e-06, + "track": 3.5095740713586565e-06, + "acceleration": 6.528019724783007e-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": 1.259500095329713e-05, + "observation_loss": 1.2507451174315065e-05, + "chamfer": 8.94154618436005e-06, + "track": 3.565905217328691e-06, + "acceleration": 8.754946634326188e-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": 1.2654222700803075e-05, + "observation_loss": 1.258789052371867e-05, + "chamfer": 8.98770031199092e-06, + "track": 3.6001897569803987e-06, + "acceleration": 6.63325252503455e-08, + "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": 1.2671250260609668e-05, + "observation_loss": 1.2621625501196831e-05, + "chamfer": 8.984260603028815e-06, + "track": 3.637365352915367e-06, + "acceleration": 4.9624453879459907e-08, + "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": 1.2682476153713651e-05, + "observation_loss": 1.2639289707294665e-05, + "chamfer": 8.969231203082018e-06, + "track": 3.6700589589599986e-06, + "acceleration": 4.318648549883619e-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": 1.2744316336466e-05, + "observation_loss": 1.2630646779143717e-05, + "chamfer": 8.973040166893043e-06, + "track": 3.65760683962435e-06, + "acceleration": 1.1366915941835032e-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": 1.2705050721706357e-05, + "observation_loss": 1.2594182408065535e-05, + "chamfer": 8.954956683737691e-06, + "track": 3.639225951701519e-06, + "acceleration": 1.1086792994774441e-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": 1.2566522855195217e-05, + "observation_loss": 1.2550009159895126e-05, + "chamfer": 8.919196261558682e-06, + "track": 3.6308126709627686e-06, + "acceleration": 1.6513943990048574e-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": 1.255668030353263e-05, + "observation_loss": 1.2507831343100406e-05, + "chamfer": 8.881227586243767e-06, + "track": 3.626603302109288e-06, + "acceleration": 4.884873661126221e-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": 1.2557899935927708e-05, + "observation_loss": 1.2461476217140444e-05, + "chamfer": 8.843660907587036e-06, + "track": 3.6178150821797317e-06, + "acceleration": 9.642391773923009e-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": 1.2449386304069776e-05, + "observation_loss": 1.235507988894824e-05, + "chamfer": 8.786657417658716e-06, + "track": 3.5684226986631984e-06, + "acceleration": 9.430630854012634e-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": 1.2186851563456003e-05, + "observation_loss": 1.213879841088783e-05, + "chamfer": 8.670055649417918e-06, + "track": 3.4687425340962363e-06, + "acceleration": 4.8052886114646753e-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": 9.987066813247717e-06, + "chamfer_mean": 6.894004665506752e-06, + "track_mean": 2.031029432636444e-06, + "acceleration_mean": 1.0620327590693535e-06, + "observation_score": 8.925034064096357e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4289037390008161 + }, + "score_arrays_file": "pass_scores/pass_end_0095.npz", + "score_arrays_sha256": "c68eeaa68b00b9f3454e46352577ebee47c9b7fca1e73261d8eb01a2d7c98114" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0096.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0096.json new file mode 100644 index 0000000000000000000000000000000000000000..e0630bd0dc62797d5ebbadd57e95250e22eebb4c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0096.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9216, + "completed_passes": 96, + "snapshot": "pass_end_0096", + "candidate": true, + "snapshot_arrays_sha256": "910a049ea4c2782281dcac91f94e9c0e23190bb78e6fc5b7a7dd98e06fb2ca65", + "score": 8.913697755019712e-06, + "score_result": { + "score": 8.913697755019712e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.011537273778231e-06, + 3.4170864182669902e-06, + 3.976067091571167e-06, + 5.12306314703892e-06, + 6.0870925153722055e-06, + 6.579964065167587e-06, + 6.506614226964302e-06, + 6.138233857200248e-06, + 5.9002522903028876e-06, + 5.897409664612496e-06, + 6.172829671413638e-06, + 6.467701496148948e-06, + 6.763956207578303e-06, + 7.009456567175221e-06, + 7.165069746406516e-06, + 7.344423920585541e-06, + 7.24888923286926e-06, + 6.949736871320056e-06, + 6.771154403395485e-06, + 6.7618248067446984e-06, + 6.806570127082523e-06, + 6.706901785946684e-06, + 6.437745014409302e-06, + 6.321866749203764e-06, + 6.600951564905699e-06, + 7.0334890551748686e-06, + 7.266436114150565e-06, + 7.3226610766141675e-06, + 7.1855110945762135e-06, + 7.001845460763434e-06, + 6.88124464431894e-06, + 6.902012955833925e-06, + 7.028355867078062e-06, + 7.308163731067907e-06, + 7.543343599536456e-06, + 7.888769687269814e-06, + 8.173325113602914e-06, + 8.221919415518641e-06, + 8.21626508695772e-06, + 8.40961183712352e-06, + 8.815764886094257e-06, + 9.127799785346724e-06, + 9.260301339963917e-06, + 9.42341830523219e-06, + 9.444019269722048e-06, + 9.398311703989748e-06, + 9.330735338153318e-06, + 9.601735655451193e-06, + 1.0119928447238635e-05, + 1.054578933690209e-05, + 1.0366873539169319e-05, + 1.0011702215706464e-05, + 9.747966032591648e-06, + 9.522644177195616e-06, + 9.529804628982674e-06, + 9.591281013854314e-06, + 9.576117918186355e-06, + 9.57960855885176e-06, + 9.602259524399415e-06, + 9.668138773122337e-06, + 9.728120858198963e-06, + 9.736504580359906e-06, + 9.84286998573225e-06, + 9.960562238120474e-06, + 1.0154304618481547e-05, + 1.0139259757124819e-05, + 1.0097105587192345e-05, + 1.0026906238636002e-05, + 9.92775949271163e-06, + 9.795446203497704e-06, + 9.635350579628721e-06, + 9.60242141445633e-06, + 9.618524927645922e-06, + 9.712783139548264e-06, + 9.848873560258653e-06, + 1.0016774467658252e-05, + 1.0153806215384975e-05, + 1.0322959496988915e-05, + 1.066413642547559e-05, + 1.103432532545412e-05, + 1.1361105862306431e-05, + 1.153953326138435e-05, + 1.183951007988071e-05, + 1.2186582353024278e-05, + 1.2399704246490728e-05, + 1.2504677215474658e-05, + 1.2584159776451997e-05, + 1.2617152606253512e-05, + 1.2635225175472442e-05, + 1.2626114767044783e-05, + 1.2590044207172468e-05, + 1.2546239304356277e-05, + 1.2504548067227006e-05, + 1.245801195182139e-05, + 1.2352581507002469e-05, + 1.2137445082771592e-05 + ] + ], + "episode_mean_losses": [ + 8.913697755019712e-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": 3.011537273778231e-06, + "observation_loss": 3.011537273778231e-06, + "chamfer": 2.5532951895002043e-06, + "track": 4.58242112699736e-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": 4.779645678354427e-05, + "observation_loss": 3.4170864182669902e-06, + "chamfer": 2.8891220154037e-06, + "track": 5.27964459706709e-07, + "acceleration": 4.4379368773661554e-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": 2.905966539401561e-05, + "observation_loss": 3.976067091571167e-06, + "chamfer": 3.3456649362051394e-06, + "track": 6.3040204167919e-07, + "acceleration": 2.5083598302444443e-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": 1.4346122043207288e-05, + "observation_loss": 5.12306314703892e-06, + "chamfer": 4.224957137921592e-06, + "track": 8.981061228041654e-07, + "acceleration": 9.223058441421017e-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": 1.0542244126554579e-05, + "observation_loss": 6.0870925153722055e-06, + "chamfer": 4.897223334410228e-06, + "track": 1.1898692946488154e-06, + "acceleration": 4.455151156435022e-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": 8.064359462878201e-06, + "observation_loss": 6.579964065167587e-06, + "chamfer": 5.2102604968240485e-06, + "track": 1.3697037957172142e-06, + "acceleration": 1.4843956250842893e-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": 8.614211765234359e-06, + "observation_loss": 6.506614226964302e-06, + "chamfer": 5.1398706091276836e-06, + "track": 1.3667438452102942e-06, + "acceleration": 2.1075975382700562e-06, + "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": 7.582326816191198e-06, + "observation_loss": 6.138233857200248e-06, + "chamfer": 4.882886969426181e-06, + "track": 1.255346887774067e-06, + "acceleration": 1.4440929589909501e-06, + "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": 6.77319349051686e-06, + "observation_loss": 5.9002522903028876e-06, + "chamfer": 4.718973286799155e-06, + "track": 1.1812790035037324e-06, + "acceleration": 8.72940972840297e-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": 6.248632871574955e-06, + "observation_loss": 5.897409664612496e-06, + "chamfer": 4.73535055789398e-06, + "track": 1.1620592204053537e-06, + "acceleration": 3.5122337749271537e-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": 6.309593118203338e-06, + "observation_loss": 6.172829671413638e-06, + "chamfer": 4.9677582865115255e-06, + "track": 1.2050713849021122e-06, + "acceleration": 1.3676333310286282e-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": 6.574087819899432e-06, + "observation_loss": 6.467701496148948e-06, + "chamfer": 5.2058462642889936e-06, + "track": 1.2618551181731164e-06, + "acceleration": 1.0638630953963002e-07, + "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": 6.811868388467701e-06, + "observation_loss": 6.763956207578303e-06, + "chamfer": 5.457172846945468e-06, + "track": 1.3067832469459972e-06, + "acceleration": 4.7912283918094545e-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": 7.097426532709505e-06, + "observation_loss": 7.009456567175221e-06, + "chamfer": 5.669824531651102e-06, + "track": 1.3396322628977941e-06, + "acceleration": 8.797003658855829e-08, + "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": 7.196711521828547e-06, + "observation_loss": 7.165069746406516e-06, + "chamfer": 5.8136456573265605e-06, + "track": 1.3514242027667933e-06, + "acceleration": 3.164175410574899e-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": 7.42328529668157e-06, + "observation_loss": 7.344423920585541e-06, + "chamfer": 5.96985591982957e-06, + "track": 1.3745678870691336e-06, + "acceleration": 7.886139030688355e-08, + "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": 7.419100256811362e-06, + "observation_loss": 7.24888923286926e-06, + "chamfer": 5.902334123675246e-06, + "track": 1.3465553365676897e-06, + "acceleration": 1.702108960444093e-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": 7.174354777816916e-06, + "observation_loss": 6.949736871320056e-06, + "chamfer": 5.682621576852398e-06, + "track": 1.26711518078082e-06, + "acceleration": 2.246178354425865e-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": 6.877928171888925e-06, + "observation_loss": 6.771154403395485e-06, + "chamfer": 5.557846634474117e-06, + "track": 1.21330765523453e-06, + "acceleration": 1.0677386086399565e-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": 6.880658929730998e-06, + "observation_loss": 6.7618248067446984e-06, + "chamfer": 5.552428319788305e-06, + "track": 1.2093963732695556e-06, + "acceleration": 1.1883433614912065e-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": 6.9859102040936705e-06, + "observation_loss": 6.806570127082523e-06, + "chamfer": 5.5835562307038344e-06, + "track": 1.2230140100655262e-06, + "acceleration": 1.7933994911345508e-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": 6.851641956018284e-06, + "observation_loss": 6.706901785946684e-06, + "chamfer": 5.514618806046201e-06, + "track": 1.1922830935873208e-06, + "acceleration": 1.4473999954134342e-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": 6.595502327400027e-06, + "observation_loss": 6.437745014409302e-06, + "chamfer": 5.314791906130267e-06, + "track": 1.1229529945921968e-06, + "acceleration": 1.5775738404499862e-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": 6.465792466769926e-06, + "observation_loss": 6.321866749203764e-06, + "chamfer": 5.2177183533785865e-06, + "track": 1.1041483958251774e-06, + "acceleration": 1.4392554703590577e-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": 6.746202416252345e-06, + "observation_loss": 6.600951564905699e-06, + "chamfer": 5.415478881332092e-06, + "track": 1.1854726835736074e-06, + "acceleration": 1.4525107872032095e-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": 7.3090550358756445e-06, + "observation_loss": 7.0334890551748686e-06, + "chamfer": 5.7196407396986615e-06, + "track": 1.3138482017893693e-06, + "acceleration": 2.7556583859222883e-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": 7.54255052015651e-06, + "observation_loss": 7.266436114150565e-06, + "chamfer": 5.880815933778649e-06, + "track": 1.3856202940587536e-06, + "acceleration": 2.761144628493639e-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": 7.50687195250066e-06, + "observation_loss": 7.3226610766141675e-06, + "chamfer": 5.930736278969562e-06, + "track": 1.3919246839577681e-06, + "acceleration": 1.8421107483845844e-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": 7.589457709400449e-06, + "observation_loss": 7.1855110945762135e-06, + "chamfer": 5.83709424972767e-06, + "track": 1.3484167311617057e-06, + "acceleration": 4.0394664324594487e-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": 7.2256457315234e-06, + "observation_loss": 7.001845460763434e-06, + "chamfer": 5.706281172024319e-06, + "track": 1.2955641750522773e-06, + "acceleration": 2.2380032760338509e-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": 6.949732778593898e-06, + "observation_loss": 6.88124464431894e-06, + "chamfer": 5.619989224214805e-06, + "track": 1.2612553064172971e-06, + "acceleration": 6.848798506098319e-08, + "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": 6.95650533089065e-06, + "observation_loss": 6.902012955833925e-06, + "chamfer": 5.64099855182576e-06, + "track": 1.261014404008165e-06, + "acceleration": 5.4492499401703753e-08, + "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": 7.1133636083686724e-06, + "observation_loss": 7.028355867078062e-06, + "chamfer": 5.746040187659673e-06, + "track": 1.2823159067920642e-06, + "acceleration": 8.500782655573857e-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": 7.416168500640197e-06, + "observation_loss": 7.308163731067907e-06, + "chamfer": 5.952236733719474e-06, + "track": 1.3559269973484334e-06, + "acceleration": 1.0800465588545194e-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": 7.631731932633556e-06, + "observation_loss": 7.543343599536456e-06, + "chamfer": 6.127649612608366e-06, + "track": 1.415694214301766e-06, + "acceleration": 8.838816967227103e-08, + "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": 8.038742635108065e-06, + "observation_loss": 7.888769687269814e-06, + "chamfer": 6.377560566761531e-06, + "track": 1.5112086657609325e-06, + "acceleration": 1.49973274687909e-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": 8.225691999541596e-06, + "observation_loss": 8.173325113602914e-06, + "chamfer": 6.576006398972822e-06, + "track": 1.5973188283169293e-06, + "acceleration": 5.236697120380995e-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": 8.567214536014944e-06, + "observation_loss": 8.221919415518641e-06, + "chamfer": 6.611674507439602e-06, + "track": 1.610245021765877e-06, + "acceleration": 3.4529466574895196e-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": 8.29284999781521e-06, + "observation_loss": 8.21626508695772e-06, + "chamfer": 6.625366495427443e-06, + "track": 1.5908989325907896e-06, + "acceleration": 7.658520928544021e-08, + "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": 8.565779353375547e-06, + "observation_loss": 8.40961183712352e-06, + "chamfer": 6.769073024770478e-06, + "track": 1.640539153413556e-06, + "acceleration": 1.5616723203493166e-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": 9.01966996025294e-06, + "observation_loss": 8.815764886094257e-06, + "chamfer": 7.052709406707436e-06, + "track": 1.7630550246394705e-06, + "acceleration": 2.0390520205637586e-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": 9.262015737476759e-06, + "observation_loss": 9.127799785346724e-06, + "chamfer": 7.2644397732801735e-06, + "track": 1.8633598983797128e-06, + "acceleration": 1.342162647688383e-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": 9.374700312037021e-06, + "observation_loss": 9.260301339963917e-06, + "chamfer": 7.3385263021918945e-06, + "track": 1.9217748103983467e-06, + "acceleration": 1.1439868785600993e-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": 9.490244337939657e-06, + "observation_loss": 9.42341830523219e-06, + "chamfer": 7.440900844812859e-06, + "track": 1.9825172330456553e-06, + "acceleration": 6.682567033067244e-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": 9.52760183281498e-06, + "observation_loss": 9.444019269722048e-06, + "chamfer": 7.452146746800281e-06, + "track": 1.9918727502954425e-06, + "acceleration": 8.358288994259055e-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": 9.47707212617388e-06, + "observation_loss": 9.398311703989748e-06, + "chamfer": 7.418625955324387e-06, + "track": 1.979685976039036e-06, + "acceleration": 7.876038665699525e-08, + "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": 9.522207619738765e-06, + "observation_loss": 9.330735338153318e-06, + "chamfer": 7.368644219241105e-06, + "track": 1.9620915736595634e-06, + "acceleration": 1.9147236685057578e-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": 9.72736506810179e-06, + "observation_loss": 9.601735655451193e-06, + "chamfer": 7.548636858700775e-06, + "track": 2.0530992514977697e-06, + "acceleration": 1.2562902895751904e-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": 1.0197558367508464e-05, + "observation_loss": 1.0119928447238635e-05, + "chamfer": 7.87254157330608e-06, + "track": 2.2473868739325553e-06, + "acceleration": 7.763021159234995e-08, + "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": 1.079189132724423e-05, + "observation_loss": 1.054578933690209e-05, + "chamfer": 8.15406565379817e-06, + "track": 2.391723228356568e-06, + "acceleration": 2.461022745592345e-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": 1.0482577636139467e-05, + "observation_loss": 1.0366873539169319e-05, + "chamfer": 8.041975888772868e-06, + "track": 2.324897877770127e-06, + "acceleration": 1.1570388380732766e-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": 1.0160463716601953e-05, + "observation_loss": 1.0011702215706464e-05, + "chamfer": 7.821013241482433e-06, + "track": 2.190688974224031e-06, + "acceleration": 1.4876147247377958e-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": 9.792803211894352e-06, + "observation_loss": 9.747966032591648e-06, + "chamfer": 7.643739081686363e-06, + "track": 2.1042274056526367e-06, + "acceleration": 4.4837399570951675e-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": 9.58160944719566e-06, + "observation_loss": 9.522644177195616e-06, + "chamfer": 7.480204203602625e-06, + "track": 2.042439973592991e-06, + "acceleration": 5.8965277105471614e-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": 9.593164577381685e-06, + "observation_loss": 9.529804628982674e-06, + "chamfer": 7.47294780012453e-06, + "track": 2.0568568288581446e-06, + "acceleration": 6.335987023931011e-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": 9.6830990514718e-06, + "observation_loss": 9.591281013854314e-06, + "chamfer": 7.507280315621756e-06, + "track": 2.0840006982325576e-06, + "acceleration": 9.181768234611809e-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": 9.642910299589857e-06, + "observation_loss": 9.576117918186355e-06, + "chamfer": 7.490503321605502e-06, + "track": 2.0856145965808537e-06, + "acceleration": 6.679224640038228e-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": 9.703420801088214e-06, + "observation_loss": 9.57960855885176e-06, + "chamfer": 7.4673666858871e-06, + "track": 2.1122418729646597e-06, + "acceleration": 1.2381204328448803e-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": 9.854097697825637e-06, + "observation_loss": 9.602259524399415e-06, + "chamfer": 7.475486654584529e-06, + "track": 2.126772415067535e-06, + "acceleration": 2.518382871130598e-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": 1.0193154594162479e-05, + "observation_loss": 9.668138773122337e-06, + "chamfer": 7.491704309359193e-06, + "track": 2.1764342363894684e-06, + "acceleration": 5.250157073533046e-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": 1.0409747119410895e-05, + "observation_loss": 9.728120858198963e-06, + "chamfer": 7.5253624345350545e-06, + "track": 2.202758651037584e-06, + "acceleration": 6.816259769948374e-07, + "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": 1.0044571354228538e-05, + "observation_loss": 9.736504580359906e-06, + "chamfer": 7.526788976974785e-06, + "track": 2.2097156033851206e-06, + "acceleration": 3.0806677386863157e-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": 9.953449080057908e-06, + "observation_loss": 9.84286998573225e-06, + "chamfer": 7.606362487422302e-06, + "track": 2.236507270936272e-06, + "acceleration": 1.1057878879228156e-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": 1.0047916475741658e-05, + "observation_loss": 9.960562238120474e-06, + "chamfer": 7.682172508793883e-06, + "track": 2.2783899567002663e-06, + "acceleration": 8.735418788319294e-08, + "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": 1.0227913662674837e-05, + "observation_loss": 1.0154304618481547e-05, + "chamfer": 7.802076652296819e-06, + "track": 2.3522284209320787e-06, + "acceleration": 7.36092573561109e-08, + "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": 1.020839590637479e-05, + "observation_loss": 1.0139259757124819e-05, + "chamfer": 7.787424692651257e-06, + "track": 2.351835064473562e-06, + "acceleration": 6.913624872595392e-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": 1.0259071132168174e-05, + "observation_loss": 1.0097105587192345e-05, + "chamfer": 7.743034075247124e-06, + "track": 2.354071739318897e-06, + "acceleration": 1.6196590024719626e-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": 1.0120543265657034e-05, + "observation_loss": 1.0026906238636002e-05, + "chamfer": 7.654893124708906e-06, + "track": 2.372013568674447e-06, + "acceleration": 9.363687780705732e-08, + "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": 1.0000179827329703e-05, + "observation_loss": 9.92775949271163e-06, + "chamfer": 7.561573511338793e-06, + "track": 2.366185981372837e-06, + "acceleration": 7.242064015144933e-08, + "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": 1.0001176633522846e-05, + "observation_loss": 9.795446203497704e-06, + "chamfer": 7.477910457964754e-06, + "track": 2.3175357455329504e-06, + "acceleration": 2.0573065739881713e-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": 1.0147466127818916e-05, + "observation_loss": 9.635350579628721e-06, + "chamfer": 7.393909982056357e-06, + "track": 2.2414408249460394e-06, + "acceleration": 5.121157755638706e-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": 9.881649930321146e-06, + "observation_loss": 9.60242141445633e-06, + "chamfer": 7.374850156338653e-06, + "track": 2.2275712581176776e-06, + "acceleration": 2.792283737562684e-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": 9.835527635004837e-06, + "observation_loss": 9.618524927645922e-06, + "chamfer": 7.398425168503309e-06, + "track": 2.2200999865162885e-06, + "acceleration": 2.1700240893096634e-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": 9.978692105505615e-06, + "observation_loss": 9.712783139548264e-06, + "chamfer": 7.46734622225631e-06, + "track": 2.245436917291954e-06, + "acceleration": 2.659093070178642e-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": 9.940381460182834e-06, + "observation_loss": 9.848873560258653e-06, + "chamfer": 7.5563075370155275e-06, + "track": 2.292566250616801e-06, + "acceleration": 9.150750202024938e-08, + "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": 1.0047764590126462e-05, + "observation_loss": 1.0016774467658252e-05, + "chamfer": 7.657059541088529e-06, + "track": 2.3597144718223717e-06, + "acceleration": 3.098987022553956e-08, + "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": 1.0190119610342663e-05, + "observation_loss": 1.0153806215384975e-05, + "chamfer": 7.71354007156333e-06, + "track": 2.440266371195321e-06, + "acceleration": 3.6313313245273093e-08, + "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": 1.0418293641123455e-05, + "observation_loss": 1.0322959496988915e-05, + "chamfer": 7.788177754264325e-06, + "track": 2.534781287977239e-06, + "acceleration": 9.533387412830052e-08, + "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": 1.0852303603314795e-05, + "observation_loss": 1.066413642547559e-05, + "chamfer": 7.956517038110178e-06, + "track": 2.707619842112763e-06, + "acceleration": 1.8816719205005938e-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": 1.124754999182187e-05, + "observation_loss": 1.103432532545412e-05, + "chamfer": 8.147975677275099e-06, + "track": 2.8863494208053453e-06, + "acceleration": 2.1322433951809217e-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": 1.149452418758301e-05, + "observation_loss": 1.1361105862306431e-05, + "chamfer": 8.32681962492643e-06, + "track": 3.0342866921273526e-06, + "acceleration": 1.334181405354684e-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": 1.1655357411655132e-05, + "observation_loss": 1.153953326138435e-05, + "chamfer": 8.410244845435955e-06, + "track": 3.12928864332207e-06, + "acceleration": 1.1582443448787672e-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": 1.1975014786003157e-05, + "observation_loss": 1.183951007988071e-05, + "chamfer": 8.592529411544092e-06, + "track": 3.246980895710294e-06, + "acceleration": 1.355049903395411e-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": 1.2388015420583542e-05, + "observation_loss": 1.2186582353024278e-05, + "chamfer": 8.785861609794665e-06, + "track": 3.4007205158559373e-06, + "acceleration": 2.0143295387242688e-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": 1.2464360224839766e-05, + "observation_loss": 1.2399704246490728e-05, + "chamfer": 8.892482583178207e-06, + "track": 3.5072218906861963e-06, + "acceleration": 6.465641178010628e-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": 1.2591693121066783e-05, + "observation_loss": 1.2504677215474658e-05, + "chamfer": 8.94083314051386e-06, + "track": 3.563844529708149e-06, + "acceleration": 8.701591269755227e-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": 1.2649624295590911e-05, + "observation_loss": 1.2584159776451997e-05, + "chamfer": 8.98645339475479e-06, + "track": 3.597705926949857e-06, + "acceleration": 6.546476782887112e-08, + "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": 1.2666261682170443e-05, + "observation_loss": 1.2617152606253512e-05, + "chamfer": 8.982477083918639e-06, + "track": 3.6346759770822246e-06, + "acceleration": 4.910953066428192e-08, + "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": 1.267821789951995e-05, + "observation_loss": 1.2635225175472442e-05, + "chamfer": 8.967686881078407e-06, + "track": 3.6675385217677103e-06, + "acceleration": 4.299278799635431e-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": 1.2739690646412782e-05, + "observation_loss": 1.2626114767044783e-05, + "chamfer": 8.971245733846445e-06, + "track": 3.6548688058246626e-06, + "acceleration": 1.1357564488889693e-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": 1.2700834304268938e-05, + "observation_loss": 1.2590044207172468e-05, + "chamfer": 8.953096767072566e-06, + "track": 3.636947212726227e-06, + "acceleration": 1.107898555119391e-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": 1.2562096344481688e-05, + "observation_loss": 1.2546239304356277e-05, + "chamfer": 8.917289960663766e-06, + "track": 3.6289495710661868e-06, + "acceleration": 1.585678965909665e-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": 1.2553155102068558e-05, + "observation_loss": 1.2504548067227006e-05, + "chamfer": 8.879690540197771e-06, + "track": 3.6248577544029104e-06, + "acceleration": 4.860692826014201e-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": 1.2555209650599863e-05, + "observation_loss": 1.245801195182139e-05, + "chamfer": 8.841940143611282e-06, + "track": 3.6160718082101084e-06, + "acceleration": 9.719801141727658e-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": 1.2448007510101888e-05, + "observation_loss": 1.2352581507002469e-05, + "chamfer": 8.785625141172204e-06, + "track": 3.566956365830265e-06, + "acceleration": 9.542556966835036e-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": 1.2186100320832338e-05, + "observation_loss": 1.2137445082771592e-05, + "chamfer": 8.669618182466365e-06, + "track": 3.4678264455578756e-06, + "acceleration": 4.865488634209214e-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": 9.9747779126839e-06, + "chamfer_mean": 6.8861805052241225e-06, + "track_mean": 2.0275172897636176e-06, + "acceleration_mean": 1.0610801220075257e-06, + "observation_score": 8.913697755019712e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4286106809995545 + }, + "score_arrays_file": "pass_scores/pass_end_0096.npz", + "score_arrays_sha256": "97cf9a05b053cbe7fac47443ae552fdd954d3217933525de7ddbe85bcb36bbb5" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0097.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0097.json new file mode 100644 index 0000000000000000000000000000000000000000..c061005ee77306649542effaa9ccc9a59c06770a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0097.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9312, + "completed_passes": 97, + "snapshot": "pass_end_0097", + "candidate": true, + "snapshot_arrays_sha256": "3e0352e44a7a7918fd640311f3fc72b22b79377c6ceb29b5a9bc2cc3f3c1b904", + "score": 8.902947489749144e-06, + "score_result": { + "score": 8.902947489749144e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.009226929862052e-06, + 3.415351329749683e-06, + 3.970468242187053e-06, + 5.111775408295216e-06, + 6.073241820558906e-06, + 6.567256605194416e-06, + 6.5019835346902255e-06, + 6.13686506767408e-06, + 5.8990467550756875e-06, + 5.891299224458635e-06, + 6.162756108096801e-06, + 6.453869900724385e-06, + 6.746921371814096e-06, + 6.9911170612613205e-06, + 7.143580660340376e-06, + 7.32117450752412e-06, + 7.225088211271213e-06, + 6.926583864697022e-06, + 6.747433872078545e-06, + 6.738438969478011e-06, + 6.78198102832539e-06, + 6.682441380689852e-06, + 6.413486516976263e-06, + 6.297113941400312e-06, + 6.573631253559142e-06, + 7.005045517871622e-06, + 7.23967059457209e-06, + 7.298563559743343e-06, + 7.163454938563518e-06, + 6.980998023209395e-06, + 6.861230758659076e-06, + 6.884176855237456e-06, + 7.010366971371695e-06, + 7.291912879736628e-06, + 7.527418347308412e-06, + 7.873346476117149e-06, + 8.158798664226197e-06, + 8.208807230403181e-06, + 8.201242962968536e-06, + 8.392258678213693e-06, + 8.797764166956767e-06, + 9.110862265515607e-06, + 9.24378491617972e-06, + 9.406820026924834e-06, + 9.427514669368975e-06, + 9.381870768265799e-06, + 9.315150236943737e-06, + 9.587367458152585e-06, + 1.0108310561918188e-05, + 1.0535512046772055e-05, + 1.0356710845371708e-05, + 1.0001380360336043e-05, + 9.737832442624494e-06, + 9.511568350717425e-06, + 9.516987120150588e-06, + 9.57872634899104e-06, + 9.563077583152335e-06, + 9.567203960614279e-06, + 9.591360139893368e-06, + 9.657508599048015e-06, + 9.71822373685427e-06, + 9.727353244670667e-06, + 9.835901437327266e-06, + 9.956465873983689e-06, + 1.0152601134905126e-05, + 1.0140322956431191e-05, + 1.0099909559357911e-05, + 1.003092711471254e-05, + 9.933495675795712e-06, + 9.801173291634768e-06, + 9.640084499551449e-06, + 9.605902960174717e-06, + 9.620367563911714e-06, + 9.712959581520408e-06, + 9.847063665802125e-06, + 1.0013047358370386e-05, + 1.0148369256057777e-05, + 1.0317243322788272e-05, + 1.0659551662683953e-05, + 1.1030254427168984e-05, + 1.1359405107214116e-05, + 1.1538048056536354e-05, + 1.1834996257675812e-05, + 1.2181666534161195e-05, + 1.2396346392051782e-05, + 1.25012620628695e-05, + 1.2580372640513815e-05, + 1.2612177670234814e-05, + 1.2629900993488263e-05, + 1.2620299457921647e-05, + 1.2584676369442604e-05, + 1.2541309843072668e-05, + 1.2499105650931597e-05, + 1.2452828741515987e-05, + 1.2348068594292272e-05, + 1.2134537428210024e-05 + ] + ], + "episode_mean_losses": [ + 8.902947489749144e-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": 3.009226929862052e-06, + "observation_loss": 3.009226929862052e-06, + "chamfer": 2.5513695618428756e-06, + "track": 4.5785745328430494e-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": 4.769908628077246e-05, + "observation_loss": 3.415351329749683e-06, + "chamfer": 2.8876950182166183e-06, + "track": 5.276563683764834e-07, + "acceleration": 4.428373358678073e-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": 2.9004528187215328e-05, + "observation_loss": 3.970468242187053e-06, + "chamfer": 3.341203182571917e-06, + "track": 6.292650596151361e-07, + "acceleration": 2.5034059945028275e-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": 1.4298751921160147e-05, + "observation_loss": 5.111775408295216e-06, + "chamfer": 4.216642537357984e-06, + "track": 8.951329846240696e-07, + "acceleration": 9.18697605811758e-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": 1.0517496775719337e-05, + "observation_loss": 6.073241820558906e-06, + "chamfer": 4.888130206381902e-06, + "track": 1.1851116141770035e-06, + "acceleration": 4.444254500413081e-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": 8.071424417721573e-06, + "observation_loss": 6.567256605194416e-06, + "chamfer": 5.202154170547146e-06, + "track": 1.3651024346472695e-06, + "acceleration": 1.5041678125271574e-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": 8.618649189884309e-06, + "observation_loss": 6.5019835346902255e-06, + "chamfer": 5.136776962899603e-06, + "track": 1.3652066854774603e-06, + "acceleration": 2.1166658825677587e-06, + "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": 7.582156285934616e-06, + "observation_loss": 6.13686506767408e-06, + "chamfer": 4.881741460849298e-06, + "track": 1.255123493137944e-06, + "acceleration": 1.4452911045736982e-06, + "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": 6.784388460800983e-06, + "observation_loss": 5.8990467550756875e-06, + "chamfer": 4.717887804872589e-06, + "track": 1.181159063889936e-06, + "acceleration": 8.853419330989709e-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": 6.250175829336513e-06, + "observation_loss": 5.891299224458635e-06, + "chamfer": 4.731079116027104e-06, + "track": 1.1602199947446934e-06, + "acceleration": 3.588764343476214e-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": 6.301393568719504e-06, + "observation_loss": 6.162756108096801e-06, + "chamfer": 4.961088507116074e-06, + "track": 1.2016678283544024e-06, + "acceleration": 1.386374179901395e-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": 6.562345788552193e-06, + "observation_loss": 6.453869900724385e-06, + "chamfer": 5.1968022489745636e-06, + "track": 1.2570678791234968e-06, + "acceleration": 1.0847590203866275e-07, + "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": 6.796909929107642e-06, + "observation_loss": 6.746921371814096e-06, + "chamfer": 5.4457727856060956e-06, + "track": 1.301148472521163e-06, + "acceleration": 4.998854663540442e-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": 7.079813258314971e-06, + "observation_loss": 6.9911170612613205e-06, + "chamfer": 5.657439032802358e-06, + "track": 1.3336779147721245e-06, + "acceleration": 8.869609047224003e-08, + "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": 7.175617611210328e-06, + "observation_loss": 7.143580660340376e-06, + "chamfer": 5.7985585044662e-06, + "track": 1.3450222695610137e-06, + "acceleration": 3.2037139163776374e-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": 7.400598406093195e-06, + "observation_loss": 7.32117450752412e-06, + "chamfer": 5.953116215096088e-06, + "track": 1.3680581787411938e-06, + "acceleration": 7.942402646676783e-08, + "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": 7.3949890975200105e-06, + "observation_loss": 7.225088211271213e-06, + "chamfer": 5.884925940335961e-06, + "track": 1.34016238462209e-06, + "acceleration": 1.6990095730307075e-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": 7.150222700147424e-06, + "observation_loss": 6.926583864697022e-06, + "chamfer": 5.665489879902452e-06, + "track": 1.2610938711077324e-06, + "acceleration": 2.2363877860698267e-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": 6.8543513407348655e-06, + "observation_loss": 6.747433872078545e-06, + "chamfer": 5.540030997508438e-06, + "track": 1.2074031019437825e-06, + "acceleration": 1.069173549694824e-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": 6.856712843728019e-06, + "observation_loss": 6.738438969478011e-06, + "chamfer": 5.535085620067548e-06, + "track": 1.2033534630973008e-06, + "acceleration": 1.1827368240346914e-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": 6.959246093174443e-06, + "observation_loss": 6.78198102832539e-06, + "chamfer": 5.565314495470375e-06, + "track": 1.2166663054813398e-06, + "acceleration": 1.7726523537930916e-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": 6.826663138781441e-06, + "observation_loss": 6.682441380689852e-06, + "chamfer": 5.496415724337567e-06, + "track": 1.186025770039123e-06, + "acceleration": 1.4422165861560643e-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": 6.5703425207175314e-06, + "observation_loss": 6.413486516976263e-06, + "chamfer": 5.296329163684277e-06, + "track": 1.1171572396051488e-06, + "acceleration": 1.5685590426528506e-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": 6.44066312815994e-06, + "observation_loss": 6.297113941400312e-06, + "chamfer": 5.198777671466814e-06, + "track": 1.098336497307173e-06, + "acceleration": 1.435490446510812e-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": 6.717297765135299e-06, + "observation_loss": 6.573631253559142e-06, + "chamfer": 5.3948651839164086e-06, + "track": 1.178765955955896e-06, + "acceleration": 1.4366632683504577e-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": 7.28154100215761e-06, + "observation_loss": 7.005045517871622e-06, + "chamfer": 5.698675067833392e-06, + "track": 1.30637045003823e-06, + "acceleration": 2.7649531375573133e-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": 7.51606967241969e-06, + "observation_loss": 7.23967059457209e-06, + "chamfer": 5.861022145836614e-06, + "track": 1.378648676109151e-06, + "acceleration": 2.763991631127283e-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": 7.483231456717476e-06, + "observation_loss": 7.298563559743343e-06, + "chamfer": 5.912788765272126e-06, + "track": 1.3857746807843796e-06, + "acceleration": 1.846677690764409e-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": 7.568219643871998e-06, + "observation_loss": 7.163454938563518e-06, + "chamfer": 5.820531896461034e-06, + "track": 1.3429231557893218e-06, + "acceleration": 4.0476467688677076e-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": 7.206163445516722e-06, + "observation_loss": 6.980998023209395e-06, + "chamfer": 5.690530542779015e-06, + "track": 1.2904675941172172e-06, + "acceleration": 2.251653370421991e-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": 6.92963476467412e-06, + "observation_loss": 6.861230758659076e-06, + "chamfer": 5.604730631603161e-06, + "track": 1.2565000133690774e-06, + "acceleration": 6.840386390649655e-08, + "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": 6.937839771126164e-06, + "observation_loss": 6.884176855237456e-06, + "chamfer": 5.627371137961745e-06, + "track": 1.256805603588873e-06, + "acceleration": 5.366296207398591e-08, + "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": 7.093103249644628e-06, + "observation_loss": 7.010366971371695e-06, + "chamfer": 5.732135832658969e-06, + "track": 1.2782310250258888e-06, + "acceleration": 8.27363280109239e-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": 7.398358320642728e-06, + "observation_loss": 7.291912879736628e-06, + "chamfer": 5.939736638538307e-06, + "track": 1.3521764685719972e-06, + "acceleration": 1.0644540537896319e-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": 7.615355571033433e-06, + "observation_loss": 7.527418347308412e-06, + "chamfer": 6.115436463005608e-06, + "track": 1.4119816569291288e-06, + "acceleration": 8.79371384598926e-08, + "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": 8.021276698855218e-06, + "observation_loss": 7.873346476117149e-06, + "chamfer": 6.3659508668933995e-06, + "track": 1.5073954955369118e-06, + "acceleration": 1.4793025115977798e-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": 8.210434316424653e-06, + "observation_loss": 8.158798664226197e-06, + "chamfer": 6.565188414242584e-06, + "track": 1.593610022609937e-06, + "acceleration": 5.163606076052929e-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": 8.553332918381784e-06, + "observation_loss": 8.208807230403181e-06, + "chamfer": 6.602298071811674e-06, + "track": 1.6065094996520202e-06, + "acceleration": 3.4452540376150864e-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": 8.278726454591379e-06, + "observation_loss": 8.201242962968536e-06, + "chamfer": 6.614794529014034e-06, + "track": 1.5864483202676638e-06, + "acceleration": 7.748356267711642e-08, + "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": 8.547930519853253e-06, + "observation_loss": 8.392258678213693e-06, + "chamfer": 6.75679848427535e-06, + "track": 1.635460534998856e-06, + "acceleration": 1.5567222533263703e-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": 9.002244951261673e-06, + "observation_loss": 8.797764166956767e-06, + "chamfer": 7.040223408694146e-06, + "track": 1.7575405308889458e-06, + "acceleration": 2.0448082693746983e-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": 9.245382898370735e-06, + "observation_loss": 9.110862265515607e-06, + "chamfer": 7.252734576468356e-06, + "track": 1.8581274616735755e-06, + "acceleration": 1.3452074654196622e-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": 9.357197995996103e-06, + "observation_loss": 9.24378491617972e-06, + "chamfer": 7.327117600652855e-06, + "track": 1.91666708815319e-06, + "acceleration": 1.1341340666604083e-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": 9.472522833675612e-06, + "observation_loss": 9.406820026924834e-06, + "chamfer": 7.42964130040491e-06, + "track": 1.9771784991462482e-06, + "acceleration": 6.570270016936774e-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": 9.51091442402685e-06, + "observation_loss": 9.427514669368975e-06, + "chamfer": 7.440760782628786e-06, + "track": 1.98675434148754e-06, + "acceleration": 8.339986123928611e-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": 9.460382898396347e-06, + "observation_loss": 9.381870768265799e-06, + "chamfer": 7.407238626910839e-06, + "track": 1.9746325961023103e-06, + "acceleration": 7.851250671819798e-08, + "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": 9.506691640126519e-06, + "observation_loss": 9.315150236943737e-06, + "chamfer": 7.357842150668148e-06, + "track": 1.9573078589019133e-06, + "acceleration": 1.9154185793013312e-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": 9.713373401609715e-06, + "observation_loss": 9.587367458152585e-06, + "chamfer": 7.538609679613728e-06, + "track": 2.0487582332862075e-06, + "acceleration": 1.2600614240909636e-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": 1.0186746294493787e-05, + "observation_loss": 1.0108310561918188e-05, + "chamfer": 7.86468808655627e-06, + "track": 2.2436222479882417e-06, + "acceleration": 7.843617311209528e-08, + "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": 1.0781745913845953e-05, + "observation_loss": 1.0535512046772055e-05, + "chamfer": 8.147282642312348e-06, + "track": 2.3882289497123566e-06, + "acceleration": 2.462338954956067e-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": 1.0473147085576784e-05, + "observation_loss": 1.0356710845371708e-05, + "chamfer": 8.03501097834669e-06, + "track": 2.3217003217723686e-06, + "acceleration": 1.1643642494618689e-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": 1.0150349226023536e-05, + "observation_loss": 1.0001380360336043e-05, + "chamfer": 7.813926458766218e-06, + "track": 2.1874543563171756e-06, + "acceleration": 1.4896917832629697e-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": 9.782305824046489e-06, + "observation_loss": 9.737832442624494e-06, + "chamfer": 7.637071576027665e-06, + "track": 2.1007606392231537e-06, + "acceleration": 4.447312917932322e-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": 9.57053907768568e-06, + "observation_loss": 9.511568350717425e-06, + "chamfer": 7.472834113286808e-06, + "track": 2.0387344648042927e-06, + "acceleration": 5.897032906432287e-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": 9.5803470685496e-06, + "observation_loss": 9.516987120150588e-06, + "chamfer": 7.464418104063952e-06, + "track": 2.052569470833987e-06, + "acceleration": 6.335982760674597e-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": 9.66980769590009e-06, + "observation_loss": 9.57872634899104e-06, + "chamfer": 7.499149887735257e-06, + "track": 2.0795764612557832e-06, + "acceleration": 9.108148901759705e-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": 9.628888619772624e-06, + "observation_loss": 9.563077583152335e-06, + "chamfer": 7.4818685789068695e-06, + "track": 2.081209231619141e-06, + "acceleration": 6.581067424349385e-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": 9.691839295555837e-06, + "observation_loss": 9.567203960614279e-06, + "chamfer": 7.459377229679376e-06, + "track": 2.107827185682254e-06, + "acceleration": 1.2463574705634528e-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": 9.845469321589917e-06, + "observation_loss": 9.591360139893368e-06, + "chamfer": 7.468671810784144e-06, + "track": 2.122688556482899e-06, + "acceleration": 2.541089259011642e-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": 1.0188093256147113e-05, + "observation_loss": 9.657508599048015e-06, + "chamfer": 7.485058631573338e-06, + "track": 2.1724497401010012e-06, + "acceleration": 5.305849413161923e-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": 1.040919596562162e-05, + "observation_loss": 9.71822373685427e-06, + "chamfer": 7.51941979615367e-06, + "track": 2.1988037133269245e-06, + "acceleration": 6.909720013936749e-07, + "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": 1.0039849257736932e-05, + "observation_loss": 9.727353244670667e-06, + "chamfer": 7.5215411925455555e-06, + "track": 2.2058122794987867e-06, + "acceleration": 3.12496098331394e-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": 9.946240425051656e-06, + "observation_loss": 9.835901437327266e-06, + "chamfer": 7.602514870086452e-06, + "track": 2.233386794614489e-06, + "acceleration": 1.1033888824840687e-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": 1.0042735084425658e-05, + "observation_loss": 9.956465873983689e-06, + "chamfer": 7.68004247220233e-06, + "track": 2.276422947034007e-06, + "acceleration": 8.626890490859296e-08, + "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": 1.0225566256849561e-05, + "observation_loss": 1.0152601134905126e-05, + "chamfer": 7.801327228662558e-06, + "track": 2.351273906242568e-06, + "acceleration": 7.296503667930665e-08, + "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": 1.0208307685388718e-05, + "observation_loss": 1.0140322956431191e-05, + "chamfer": 7.788426046317909e-06, + "track": 2.351897137486958e-06, + "acceleration": 6.798453000556037e-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": 1.0263141120958608e-05, + "observation_loss": 1.0099909559357911e-05, + "chamfer": 7.745300536043942e-06, + "track": 2.3546094780613203e-06, + "acceleration": 1.632317463418076e-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": 1.0125121661985759e-05, + "observation_loss": 1.003092711471254e-05, + "chamfer": 7.65775803301949e-06, + "track": 2.3731690816930495e-06, + "acceleration": 9.4194753330612e-08, + "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": 1.0005967851611786e-05, + "observation_loss": 9.933495675795712e-06, + "chamfer": 7.5657317211152986e-06, + "track": 2.367763954680413e-06, + "acceleration": 7.247190580983442e-08, + "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": 1.0007345736084972e-05, + "observation_loss": 9.801173291634768e-06, + "chamfer": 7.482067303499207e-06, + "track": 2.319105760761886e-06, + "acceleration": 2.0617217444396374e-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": 1.015382440527901e-05, + "observation_loss": 9.640084499551449e-06, + "chamfer": 7.397402441711165e-06, + "track": 2.242682057840284e-06, + "acceleration": 5.13739735197305e-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": 9.886625775834545e-06, + "observation_loss": 9.605902960174717e-06, + "chamfer": 7.3772939686023165e-06, + "track": 2.2286089915724006e-06, + "acceleration": 2.807227588164096e-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": 9.833388503466267e-06, + "observation_loss": 9.620367563911714e-06, + "chamfer": 7.399592959700385e-06, + "track": 2.220774376837653e-06, + "acceleration": 2.1302101060882705e-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": 9.962564945453778e-06, + "observation_loss": 9.712959581520408e-06, + "chamfer": 7.467429895768873e-06, + "track": 2.245530140498886e-06, + "acceleration": 2.4960547762020724e-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": 9.934621630236506e-06, + "observation_loss": 9.847063665802125e-06, + "chamfer": 7.555321644758806e-06, + "track": 2.291741793669644e-06, + "acceleration": 8.755777969327028e-08, + "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": 1.0044282134913374e-05, + "observation_loss": 1.0013047358370386e-05, + "chamfer": 7.654811270185746e-06, + "track": 2.3582363155583153e-06, + "acceleration": 3.12344035080514e-08, + "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": 1.018525017570937e-05, + "observation_loss": 1.0148369256057777e-05, + "chamfer": 7.710362297075335e-06, + "track": 2.4380065042350907e-06, + "acceleration": 3.688078109576054e-08, + "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": 1.0413886229798663e-05, + "observation_loss": 1.0317243322788272e-05, + "chamfer": 7.785120033076964e-06, + "track": 2.5321230623376323e-06, + "acceleration": 9.664253752816876e-08, + "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": 1.0860992915695533e-05, + "observation_loss": 1.0659551662683953e-05, + "chamfer": 7.954213288030587e-06, + "track": 2.705338602027041e-06, + "acceleration": 2.0144159407209372e-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": 1.1279002137598582e-05, + "observation_loss": 1.1030254427168984e-05, + "chamfer": 8.145586434693541e-06, + "track": 2.884668219849118e-06, + "acceleration": 2.4874810833352967e-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": 1.1500101209094282e-05, + "observation_loss": 1.1359405107214116e-05, + "chamfer": 8.32565547170816e-06, + "track": 3.033749862879631e-06, + "acceleration": 1.40696485573244e-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": 1.1647260180325247e-05, + "observation_loss": 1.1538048056536354e-05, + "chamfer": 8.409408110310324e-06, + "track": 3.128639718852355e-06, + "acceleration": 1.0921169746325177e-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": 1.1974151675531175e-05, + "observation_loss": 1.1834996257675812e-05, + "chamfer": 8.58998373587383e-06, + "track": 3.245012067054631e-06, + "acceleration": 1.3915511942741432e-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": 1.2382316526782233e-05, + "observation_loss": 1.2181666534161195e-05, + "chamfer": 8.783626981312409e-06, + "track": 3.398040007596137e-06, + "acceleration": 2.0064967998223437e-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": 1.2460744073905516e-05, + "observation_loss": 1.2396346392051782e-05, + "chamfer": 8.891322067938745e-06, + "track": 3.505024096739362e-06, + "acceleration": 6.439740474206701e-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": 1.2587411220010836e-05, + "observation_loss": 1.25012620628695e-05, + "chamfer": 8.93968899617903e-06, + "track": 3.561573066690471e-06, + "acceleration": 8.614946978013904e-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": 1.2644757589441724e-05, + "observation_loss": 1.2580372640513815e-05, + "chamfer": 8.985023669083603e-06, + "track": 3.5953485166828614e-06, + "acceleration": 6.43848707682082e-08, + "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": 1.2660980246437248e-05, + "observation_loss": 1.2612177670234814e-05, + "chamfer": 8.980424354376737e-06, + "track": 3.631753088484402e-06, + "acceleration": 4.8802519359014696e-08, + "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": 1.267240077140741e-05, + "observation_loss": 1.2629900993488263e-05, + "chamfer": 8.965354936663061e-06, + "track": 3.664546056825202e-06, + "acceleration": 4.2499568309040114e-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": 1.273392354050884e-05, + "observation_loss": 1.2620299457921647e-05, + "chamfer": 8.968609108706005e-06, + "track": 3.651690121841966e-06, + "acceleration": 1.1362420337945878e-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": 1.2695414625341073e-05, + "observation_loss": 1.2584676369442604e-05, + "chamfer": 8.950471055868547e-06, + "track": 3.6342050862003816e-06, + "acceleration": 1.107384051124427e-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": 1.2556340152514167e-05, + "observation_loss": 1.2541309843072668e-05, + "chamfer": 8.914634236134589e-06, + "track": 3.6266753795644036e-06, + "acceleration": 1.5030304112428894e-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": 1.2547491678560618e-05, + "observation_loss": 1.2499105650931597e-05, + "chamfer": 8.876892025000416e-06, + "track": 3.622214080678532e-06, + "acceleration": 4.8386091577867774e-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": 1.2551599866128527e-05, + "observation_loss": 1.2452828741515987e-05, + "chamfer": 8.83936354512116e-06, + "track": 3.6134651963948272e-06, + "acceleration": 9.877156514903618e-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": 1.2445620086509734e-05, + "observation_loss": 1.2348068594292272e-05, + "chamfer": 8.783461453276686e-06, + "track": 3.5646071410155855e-06, + "acceleration": 9.755154195545401e-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": 1.2183400940557476e-05, + "observation_loss": 1.2134537428210024e-05, + "chamfer": 8.66826667333953e-06, + "track": 3.466270754870493e-06, + "acceleration": 4.886327786834954e-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": 9.963063367498156e-06, + "chamfer_mean": 6.8787464329034265e-06, + "track_mean": 2.0242010737211067e-06, + "acceleration_mean": 1.0601158541567735e-06, + "observation_score": 8.902947489749144e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429277885999909 + }, + "score_arrays_file": "pass_scores/pass_end_0097.npz", + "score_arrays_sha256": "e6d0152098bd7431ca11b0fb03c52472ec3defa04b0e130201b87041d1cc5f30" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0098.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0098.json new file mode 100644 index 0000000000000000000000000000000000000000..cec0e8cb32840f539d63ac5d37bc7b90000ae0ce --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0098.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9408, + "completed_passes": 98, + "snapshot": "pass_end_0098", + "candidate": true, + "snapshot_arrays_sha256": "949b1a9c25d6274fa2f3cb35b4f9a2b4ba172ee2ccb6e25823369c779c3d7691", + "score": 8.889849006266104e-06, + "score_result": { + "score": 8.889849006266104e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.007054829140543e-06, + 3.4134736779378727e-06, + 3.964574716519564e-06, + 5.100373982713791e-06, + 6.059578936401522e-06, + 6.554879746545339e-06, + 6.497627055068733e-06, + 6.135486728453543e-06, + 5.897641585761448e-06, + 5.885249265702441e-06, + 6.153243703010958e-06, + 6.440508059313288e-06, + 6.729947017447557e-06, + 6.973120434849989e-06, + 7.122784154489636e-06, + 7.299118806258775e-06, + 7.202382221294101e-06, + 6.904414476593956e-06, + 6.724825652781874e-06, + 6.716273674101103e-06, + 6.758835297659971e-06, + 6.659452992607839e-06, + 6.389964710251661e-06, + 6.27277677267557e-06, + 6.546902113768738e-06, + 6.9772345341334585e-06, + 7.2132038440031465e-06, + 7.274495601450326e-06, + 7.141822152334498e-06, + 6.961086000956129e-06, + 6.841984941274859e-06, + 6.866405328764813e-06, + 6.993036549829412e-06, + 7.27492351870751e-06, + 7.511669537052512e-06, + 7.857679520384409e-06, + 8.143992999976035e-06, + 8.195840564440005e-06, + 8.186697414203081e-06, + 8.375720426556654e-06, + 8.780778443906456e-06, + 9.09453501662938e-06, + 9.227716873283498e-06, + 9.390555533173028e-06, + 9.411493010702543e-06, + 9.365996447741054e-06, + 9.30011083255522e-06, + 9.573624993208796e-06, + 1.0097525773744565e-05, + 1.0525744073675014e-05, + 1.0346060662413947e-05, + 9.990357284550555e-06, + 9.726315511215944e-06, + 9.498086001258343e-06, + 9.500973646936473e-06, + 9.562381819705479e-06, + 9.546229193801992e-06, + 9.551146831654478e-06, + 9.576899174135178e-06, + 9.643323210184462e-06, + 9.704737749416381e-06, + 9.714213774714153e-06, + 9.82452547759749e-06, + 9.946823411155492e-06, + 1.0144413863599766e-05, + 1.0134580406884197e-05, + 1.009560492093442e-05, + 1.0027561074821278e-05, + 9.930990017892327e-06, + 9.79819378699176e-06, + 9.634263733460102e-06, + 9.597412827133667e-06, + 9.610351298761088e-06, + 9.701196177047677e-06, + 9.834146112552844e-06, + 9.998400855693035e-06, + 1.0133589967153966e-05, + 1.0303120689059142e-05, + 1.0648231182130985e-05, + 1.1020384590665344e-05, + 1.1352093679306563e-05, + 1.1531965355970897e-05, + 1.1825644833152182e-05, + 1.2171401976956986e-05, + 1.2388170944177546e-05, + 1.2493739632191136e-05, + 1.2571836123242974e-05, + 1.2603139111888595e-05, + 1.2621725545614026e-05, + 1.261137549590785e-05, + 1.2576032531796955e-05, + 1.253341633855598e-05, + 1.2491404959291685e-05, + 1.2444913409126457e-05, + 1.2341341061983258e-05, + 1.2128423804824706e-05 + ] + ], + "episode_mean_losses": [ + 8.889849006266104e-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": 3.007054829140543e-06, + "observation_loss": 3.007054829140543e-06, + "chamfer": 2.5495601221336983e-06, + "track": 4.574947354285541e-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": 4.7606677981093526e-05, + "observation_loss": 3.4134736779378727e-06, + "chamfer": 2.8861495593446307e-06, + "track": 5.273240617498232e-07, + "acceleration": 4.419320248416625e-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": 2.895485158660449e-05, + "observation_loss": 3.964574716519564e-06, + "chamfer": 3.336503823447856e-06, + "track": 6.280711204453837e-07, + "acceleration": 2.4990276870084926e-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": 1.4252849723561667e-05, + "observation_loss": 5.100373982713791e-06, + "chamfer": 4.20824790126062e-06, + "track": 8.921260814531706e-07, + "acceleration": 9.152475286100525e-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": 1.0495050446479581e-05, + "observation_loss": 6.059578936401522e-06, + "chamfer": 4.879215794062475e-06, + "track": 1.180363142339047e-06, + "acceleration": 4.4354715100780595e-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": 8.079920007730834e-06, + "observation_loss": 6.554879746545339e-06, + "chamfer": 5.194304776523495e-06, + "track": 1.3605748563350062e-06, + "acceleration": 1.5250401474986575e-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": 8.61708485899726e-06, + "observation_loss": 6.497627055068733e-06, + "chamfer": 5.133878403285053e-06, + "track": 1.3637485380968428e-06, + "acceleration": 2.1194575765548507e-06, + "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": 7.572679351142142e-06, + "observation_loss": 6.135486728453543e-06, + "chamfer": 4.880594133283012e-06, + "track": 1.2548927088573691e-06, + "acceleration": 1.437192622688599e-06, + "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": 6.7914197643403895e-06, + "observation_loss": 5.897641585761448e-06, + "chamfer": 4.716686362371547e-06, + "track": 1.1809552233899012e-06, + "acceleration": 8.937781217355223e-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": 6.250573278521188e-06, + "observation_loss": 5.885249265702441e-06, + "chamfer": 4.726863153337035e-06, + "track": 1.1583863397390814e-06, + "acceleration": 3.65323927553618e-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": 6.293329988693586e-06, + "observation_loss": 6.153243703010958e-06, + "chamfer": 4.954829819325823e-06, + "track": 1.1984137699982966e-06, + "acceleration": 1.400863567369015e-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": 6.5507242652529385e-06, + "observation_loss": 6.440508059313288e-06, + "chamfer": 5.18810520588886e-06, + "track": 1.2524029671112658e-06, + "acceleration": 1.1021609225281281e-07, + "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": 6.781974661862478e-06, + "observation_loss": 6.729947017447557e-06, + "chamfer": 5.43436635780381e-06, + "track": 1.2955807733305846e-06, + "acceleration": 5.202778297075383e-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": 7.062772510835202e-06, + "observation_loss": 6.973120434849989e-06, + "chamfer": 5.645268629450584e-06, + "track": 1.3278520327730803e-06, + "acceleration": 8.965216835576939e-08, + "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": 7.155231742217438e-06, + "observation_loss": 7.122784154489636e-06, + "chamfer": 5.783859705843497e-06, + "track": 1.338924562332977e-06, + "acceleration": 3.244748114639151e-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": 7.379695944109699e-06, + "observation_loss": 7.299118806258775e-06, + "chamfer": 5.9372455325501505e-06, + "track": 1.3618732737086248e-06, + "acceleration": 8.057710942921403e-08, + "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": 7.372334493993549e-06, + "observation_loss": 7.202382221294101e-06, + "chamfer": 5.868272637599148e-06, + "track": 1.3341096973817912e-06, + "acceleration": 1.6995217322346434e-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": 7.127769094950054e-06, + "observation_loss": 6.904414476593956e-06, + "chamfer": 5.649051672662608e-06, + "track": 1.2553629176181857e-06, + "acceleration": 2.2335467519951635e-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": 6.832998678873992e-06, + "observation_loss": 6.724825652781874e-06, + "chamfer": 5.523007985175354e-06, + "track": 1.201817440232844e-06, + "acceleration": 1.0817284845643371e-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": 6.835127351223491e-06, + "observation_loss": 6.716273674101103e-06, + "chamfer": 5.518530997505877e-06, + "track": 1.1977425629083882e-06, + "acceleration": 1.1885362738439653e-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": 6.934835255378857e-06, + "observation_loss": 6.758835297659971e-06, + "chamfer": 5.548077297135023e-06, + "track": 1.210757773151272e-06, + "acceleration": 1.7600005719486944e-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": 6.803122687415453e-06, + "observation_loss": 6.659452992607839e-06, + "chamfer": 5.479228093463462e-06, + "track": 1.1802247854575398e-06, + "acceleration": 1.4366968059675855e-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": 6.5458698372822255e-06, + "observation_loss": 6.389964710251661e-06, + "chamfer": 5.278359367366647e-06, + "track": 1.1116053428850137e-06, + "acceleration": 1.559050559762909e-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": 6.417844360839808e-06, + "observation_loss": 6.27277677267557e-06, + "chamfer": 5.180086645850679e-06, + "track": 1.0926900131380535e-06, + "acceleration": 1.4506750289910997e-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": 6.690536338282982e-06, + "observation_loss": 6.546902113768738e-06, + "chamfer": 5.374599368224153e-06, + "track": 1.1723026318577467e-06, + "acceleration": 1.4363415345997055e-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": 7.25380868971115e-06, + "observation_loss": 6.9772345341334585e-06, + "chamfer": 5.678038178302813e-06, + "track": 1.2991962421438075e-06, + "acceleration": 2.7657404189085355e-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": 7.489125891879667e-06, + "observation_loss": 7.2132038440031465e-06, + "chamfer": 5.841352503921371e-06, + "track": 1.3718512263949378e-06, + "acceleration": 2.7592201945481065e-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": 7.459229891537689e-06, + "observation_loss": 7.274495601450326e-06, + "chamfer": 5.8947694014932495e-06, + "track": 1.3797263136439142e-06, + "acceleration": 1.8473440377420047e-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": 7.54828033677768e-06, + "observation_loss": 7.141822152334498e-06, + "chamfer": 5.804177362733753e-06, + "track": 1.3376446759139071e-06, + "acceleration": 4.0645807075634366e-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": 7.188445579231484e-06, + "observation_loss": 6.961086000956129e-06, + "chamfer": 5.675367447111057e-06, + "track": 1.2857185538450722e-06, + "acceleration": 2.2735953564279043e-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": 6.910539013915695e-06, + "observation_loss": 6.841984941274859e-06, + "chamfer": 5.589939519268228e-06, + "track": 1.2520451946329558e-06, + "acceleration": 6.85540797462636e-08, + "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": 6.919857696630061e-06, + "observation_loss": 6.866405328764813e-06, + "chamfer": 5.613737357634818e-06, + "track": 1.2526680848168326e-06, + "acceleration": 5.345216891328164e-08, + "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": 7.074360837577842e-06, + "observation_loss": 6.993036549829412e-06, + "chamfer": 5.71870123167173e-06, + "track": 1.2743353181576822e-06, + "acceleration": 8.132435169727614e-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": 7.3805263127724174e-06, + "observation_loss": 7.27492351870751e-06, + "chamfer": 5.926614903728478e-06, + "track": 1.3483085012921947e-06, + "acceleration": 1.0560282248661679e-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": 7.599693617521552e-06, + "observation_loss": 7.511669537052512e-06, + "chamfer": 6.103350642661098e-06, + "track": 1.408318780704576e-06, + "acceleration": 8.802423678844207e-08, + "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": 8.00481575424783e-06, + "observation_loss": 7.857679520384409e-06, + "chamfer": 6.354115612339228e-06, + "track": 1.5035641354188556e-06, + "acceleration": 1.4713654650222452e-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": 8.195100235752761e-06, + "observation_loss": 8.143992999976035e-06, + "chamfer": 6.55416215522564e-06, + "track": 1.5898305036898819e-06, + "acceleration": 5.1106884058071955e-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": 8.537986104784068e-06, + "observation_loss": 8.195840564440005e-06, + "chamfer": 6.592995760001941e-06, + "track": 1.6028444633775507e-06, + "acceleration": 3.4214576771773864e-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": 8.264121788670309e-06, + "observation_loss": 8.186697414203081e-06, + "chamfer": 6.604525424336316e-06, + "track": 1.5821718761799275e-06, + "acceleration": 7.74245947354757e-08, + "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": 8.531187631888315e-06, + "observation_loss": 8.375720426556654e-06, + "chamfer": 6.7450664573698305e-06, + "track": 1.6306540828736615e-06, + "acceleration": 1.5546687848200236e-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": 8.985640306491405e-06, + "observation_loss": 8.780778443906456e-06, + "chamfer": 7.028432264633011e-06, + "track": 1.7523459518997697e-06, + "acceleration": 2.0486213259118813e-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": 9.229202987626195e-06, + "observation_loss": 9.09453501662938e-06, + "chamfer": 7.241418188641546e-06, + "track": 1.8531166006141575e-06, + "acceleration": 1.3466770099057612e-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": 9.34048330236692e-06, + "observation_loss": 9.227716873283498e-06, + "chamfer": 7.315977200050838e-06, + "track": 1.9117396732326597e-06, + "acceleration": 1.1276667777337934e-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": 9.455734470975585e-06, + "observation_loss": 9.390555533173028e-06, + "chamfer": 7.41850408303435e-06, + "track": 1.9720512227650033e-06, + "acceleration": 6.517904438396727e-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": 9.495138328929897e-06, + "observation_loss": 9.411493010702543e-06, + "chamfer": 7.429666311509209e-06, + "track": 1.9818262444459833e-06, + "acceleration": 8.364515480252521e-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": 9.444898751098663e-06, + "observation_loss": 9.365996447741054e-06, + "chamfer": 7.396268301818054e-06, + "track": 1.9697283732966753e-06, + "acceleration": 7.890248809871991e-08, + "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": 9.49263085203711e-06, + "observation_loss": 9.30011083255522e-06, + "chamfer": 7.347397058765637e-06, + "track": 1.9527135464159073e-06, + "acceleration": 1.9251980631906918e-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": 9.699859219836071e-06, + "observation_loss": 9.573624993208796e-06, + "chamfer": 7.528918104071636e-06, + "track": 2.044706434389809e-06, + "acceleration": 1.262338997776169e-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": 1.0176794603466988e-05, + "observation_loss": 1.0097525773744565e-05, + "chamfer": 7.857297532609664e-06, + "track": 2.2402282411349006e-06, + "acceleration": 7.926908551780798e-08, + "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": 1.0771680535981432e-05, + "observation_loss": 1.0525744073675014e-05, + "chamfer": 8.140734280459583e-06, + "track": 2.3850093384680804e-06, + "acceleration": 2.459361496676138e-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": 1.0463196304044686e-05, + "observation_loss": 1.0346060662413947e-05, + "chamfer": 8.02763406682061e-06, + "track": 2.3184268229670124e-06, + "acceleration": 1.1713535030821731e-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": 1.0139775440620724e-05, + "observation_loss": 9.990357284550555e-06, + "chamfer": 7.80621212470578e-06, + "track": 2.18414538721845e-06, + "acceleration": 1.494177297445276e-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": 9.77094896370545e-06, + "observation_loss": 9.726315511215944e-06, + "chamfer": 7.629428182553966e-06, + "track": 2.096887101288303e-06, + "acceleration": 4.463378644459226e-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": 9.55712948780274e-06, + "observation_loss": 9.498086001258343e-06, + "chamfer": 7.463799647666747e-06, + "track": 2.0342861262179213e-06, + "acceleration": 5.9043589573093413e-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": 9.564433639752679e-06, + "observation_loss": 9.500973646936473e-06, + "chamfer": 7.45372608434991e-06, + "track": 2.0472475625865627e-06, + "acceleration": 6.346039782556545e-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": 9.653165761847049e-06, + "observation_loss": 9.562381819705479e-06, + "chamfer": 7.488436949643074e-06, + "track": 2.0739448700624052e-06, + "acceleration": 9.07836650299032e-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": 9.611708264856134e-06, + "observation_loss": 9.546229193801992e-06, + "chamfer": 7.47071635487373e-06, + "track": 2.075512384180911e-06, + "acceleration": 6.547927000610798e-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": 9.676272384240292e-06, + "observation_loss": 9.551146831654478e-06, + "chamfer": 7.448904398188461e-06, + "track": 2.102242206092342e-06, + "acceleration": 1.251259647006009e-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": 9.832251635089051e-06, + "observation_loss": 9.576899174135178e-06, + "chamfer": 7.459551397914765e-06, + "track": 2.1173480035940884e-06, + "acceleration": 2.5535234726703493e-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": 1.0180495337408502e-05, + "observation_loss": 9.643323210184462e-06, + "chamfer": 7.47605645301519e-06, + "track": 2.1672667571692728e-06, + "acceleration": 5.371717293201073e-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": 1.0408202797407284e-05, + "observation_loss": 9.704737749416381e-06, + "chamfer": 7.511087005696027e-06, + "track": 2.19365097109403e-06, + "acceleration": 7.034648774606467e-07, + "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": 1.0031312740466092e-05, + "observation_loss": 9.714213774714153e-06, + "chamfer": 7.513593573094113e-06, + "track": 2.200620428993716e-06, + "acceleration": 3.1709853942629707e-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": 9.935190064425115e-06, + "observation_loss": 9.82452547759749e-06, + "chamfer": 7.5957241278956644e-06, + "track": 2.22880112232815e-06, + "acceleration": 1.1066434524309443e-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": 1.003139368549455e-05, + "observation_loss": 9.946823411155492e-06, + "chamfer": 7.674057997064665e-06, + "track": 2.2727651867171517e-06, + "acceleration": 8.457016065221978e-08, + "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": 1.021633670461597e-05, + "observation_loss": 1.0144413863599766e-05, + "chamfer": 7.795944839017466e-06, + "track": 2.348468797208625e-06, + "acceleration": 7.192282680534845e-08, + "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": 1.0201744771620724e-05, + "observation_loss": 1.0134580406884197e-05, + "chamfer": 7.784532499499619e-06, + "track": 2.350047907384578e-06, + "acceleration": 6.716427947139891e-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": 1.025989513436798e-05, + "observation_loss": 1.009560492093442e-05, + "chamfer": 7.742530215182342e-06, + "track": 2.353074933125754e-06, + "acceleration": 1.6429009974672226e-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": 1.01224241007003e-05, + "observation_loss": 1.0027561074821278e-05, + "chamfer": 7.655426998098847e-06, + "track": 2.372133621975081e-06, + "acceleration": 9.486303298444909e-08, + "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": 1.0003829629567917e-05, + "observation_loss": 9.930990017892327e-06, + "chamfer": 7.5640500654117204e-06, + "track": 2.3669399524806067e-06, + "acceleration": 7.2839824838411e-08, + "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": 1.0005909643950872e-05, + "observation_loss": 9.79819378699176e-06, + "chamfer": 7.480204658349976e-06, + "track": 2.317989128641784e-06, + "acceleration": 2.07715956435095e-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": 1.0150390153285116e-05, + "observation_loss": 9.634263733460102e-06, + "chamfer": 7.393529813271016e-06, + "track": 2.240734147562762e-06, + "acceleration": 5.161264198250137e-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": 9.880457582767121e-06, + "observation_loss": 9.597412827133667e-06, + "chamfer": 7.371396804956021e-06, + "track": 2.2260157948039705e-06, + "acceleration": 2.8304509669396793e-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": 9.819186743698083e-06, + "observation_loss": 9.610351298761088e-06, + "chamfer": 7.392598945443751e-06, + "track": 2.2177525806910126e-06, + "acceleration": 2.088354733587039e-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": 9.93132471194258e-06, + "observation_loss": 9.701196177047677e-06, + "chamfer": 7.459337666659849e-06, + "track": 2.2418589651351795e-06, + "acceleration": 2.30128947009689e-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": 9.917220268107485e-06, + "observation_loss": 9.834146112552844e-06, + "chamfer": 7.546856522822054e-06, + "track": 2.2872900444781408e-06, + "acceleration": 8.307387133754673e-08, + "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": 1.0029832992586307e-05, + "observation_loss": 9.998400855693035e-06, + "chamfer": 7.645367986697238e-06, + "track": 2.3530333237431478e-06, + "acceleration": 3.1431859781605453e-08, + "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": 1.0171063877351116e-05, + "observation_loss": 1.0133589967153966e-05, + "chamfer": 7.701029971940443e-06, + "track": 2.4325604499608744e-06, + "acceleration": 3.747382137930799e-08, + "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": 1.0400691280665342e-05, + "observation_loss": 1.0303120689059142e-05, + "chamfer": 7.776642632961739e-06, + "track": 2.526478056097403e-06, + "acceleration": 9.757023633483186e-08, + "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": 1.0868147001019679e-05, + "observation_loss": 1.0648231182130985e-05, + "chamfer": 7.947585800138768e-06, + "track": 2.700645836739568e-06, + "acceleration": 2.1991556309330917e-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": 1.1329755579936318e-05, + "observation_loss": 1.1020384590665344e-05, + "chamfer": 8.13926544651622e-06, + "track": 2.8811193715228e-06, + "acceleration": 3.093709608492645e-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": 1.1506623195600696e-05, + "observation_loss": 1.1352093679306563e-05, + "chamfer": 8.321100722241681e-06, + "track": 3.0309931844385574e-06, + "acceleration": 1.5452980051122722e-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": 1.1634790098469239e-05, + "observation_loss": 1.1531965355970897e-05, + "chamfer": 8.405883818340953e-06, + "track": 3.1260810828825925e-06, + "acceleration": 1.0282519014026548e-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": 1.1968268154305406e-05, + "observation_loss": 1.1825644833152182e-05, + "chamfer": 8.584589522797614e-06, + "track": 3.241055765101919e-06, + "acceleration": 1.4262307956869336e-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": 1.237087508343393e-05, + "observation_loss": 1.2171401976956986e-05, + "chamfer": 8.778045412327629e-06, + "track": 3.393357019376708e-06, + "acceleration": 1.9947275120557606e-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": 1.2452181181288324e-05, + "observation_loss": 1.2388170944177546e-05, + "chamfer": 8.88723570824368e-06, + "track": 3.5009347811865155e-06, + "acceleration": 6.401023000535133e-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": 1.2578644600580446e-05, + "observation_loss": 1.2493739632191136e-05, + "chamfer": 8.935971891332883e-06, + "track": 3.557767286110902e-06, + "acceleration": 8.490540182037876e-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": 1.2635642633540556e-05, + "observation_loss": 1.2571836123242974e-05, + "chamfer": 8.980770871858113e-06, + "track": 3.591064796637511e-06, + "acceleration": 6.38067874092485e-08, + "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": 1.265162427444011e-05, + "observation_loss": 1.2603139111888595e-05, + "chamfer": 8.975631317298394e-06, + "track": 3.627508249337552e-06, + "acceleration": 4.8485308212775635e-08, + "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": 1.2664450878219213e-05, + "observation_loss": 1.2621725545614026e-05, + "chamfer": 8.961172170529608e-06, + "track": 3.6605538298317697e-06, + "acceleration": 4.272504128266519e-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": 1.2725134183710907e-05, + "observation_loss": 1.261137549590785e-05, + "chamfer": 8.963950676843524e-06, + "track": 3.6474243643169757e-06, + "acceleration": 1.1375908570698812e-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": 1.2687088201346342e-05, + "observation_loss": 1.2576032531796955e-05, + "chamfer": 8.94566073839087e-06, + "track": 3.630371793406084e-06, + "acceleration": 1.1105560560054073e-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": 1.2548157428682316e-05, + "observation_loss": 1.253341633855598e-05, + "chamfer": 8.910098586056847e-06, + "track": 3.623317979872809e-06, + "acceleration": 1.4740923148792717e-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": 1.2540011084638536e-05, + "observation_loss": 1.2491404959291685e-05, + "chamfer": 8.872561920725275e-06, + "track": 3.618843265940086e-06, + "acceleration": 4.8605826918901585e-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": 1.2544279343273956e-05, + "observation_loss": 1.2444913409126457e-05, + "chamfer": 8.834764230414294e-06, + "track": 3.6101489513384877e-06, + "acceleration": 9.9365884409508e-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": 1.243941551365424e-05, + "observation_loss": 1.2341341061983258e-05, + "chamfer": 8.77971342561068e-06, + "track": 3.561627863746253e-06, + "acceleration": 9.807476430978568e-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": 1.2177474673080724e-05, + "observation_loss": 1.2128423804824706e-05, + "chamfer": 8.664632332511246e-06, + "track": 3.4637916996871354e-06, + "acceleration": 4.905070127847466e-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": 9.949477281168129e-06, + "chamfer_mean": 6.869723262544388e-06, + "track_mean": 2.0201257363202294e-06, + "acceleration_mean": 1.0596282318623789e-06, + "observation_score": 8.889849006266104e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4158357060005073 + }, + "score_arrays_file": "pass_scores/pass_end_0098.npz", + "score_arrays_sha256": "de79cf7bc6a3e6de34a44f725689bd403e9158bf41289510297940dcf721d4a1" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0099.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0099.json new file mode 100644 index 0000000000000000000000000000000000000000..7791d53ab08b03bd66694f280e808fecc5657f3e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0099.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9504, + "completed_passes": 99, + "snapshot": "pass_end_0099", + "candidate": true, + "snapshot_arrays_sha256": "62019d8bf6121ead23b4741699a352d782bbf23e4b7d7e18d88d0857f8b1e229", + "score": 8.878895769726114e-06, + "score_result": { + "score": 8.878895769726114e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.005038706760388e-06, + 3.4115910239052027e-06, + 3.958612978749443e-06, + 5.089113074063789e-06, + 6.0459142332547344e-06, + 6.5427698245912325e-06, + 6.493338787549874e-06, + 6.1338746490946505e-06, + 5.895521553611616e-06, + 5.878394404135179e-06, + 6.142848178569693e-06, + 6.426339496101718e-06, + 6.712902177241631e-06, + 6.955588560231263e-06, + 7.102309155015973e-06, + 7.277395525306929e-06, + 7.179797648859676e-06, + 6.8824729169136845e-06, + 6.702735390717862e-06, + 6.694310286547989e-06, + 6.736444447597023e-06, + 6.637169917667052e-06, + 6.36701315670507e-06, + 6.248960744414944e-06, + 6.520265742437914e-06, + 6.9489210545725655e-06, + 7.186923085100716e-06, + 7.250966518768109e-06, + 7.121307589841308e-06, + 6.942903837625636e-06, + 6.824529009463731e-06, + 6.8501781242957804e-06, + 6.977716566325398e-06, + 7.25994914319017e-06, + 7.497363185393624e-06, + 7.843786079320125e-06, + 8.130531568895094e-06, + 8.183712452591863e-06, + 8.173003152478486e-06, + 8.360232641280163e-06, + 8.76506237545982e-06, + 9.079734809347428e-06, + 9.21291302802274e-06, + 9.375039553560782e-06, + 9.39678920985898e-06, + 9.351603694085497e-06, + 9.286792192142457e-06, + 9.562241757521406e-06, + 1.0089017450809479e-05, + 1.0518273484194651e-05, + 1.033786975312978e-05, + 9.98229006654583e-06, + 9.718820365378633e-06, + 9.488839168625418e-06, + 9.489981493970845e-06, + 9.551084986014757e-06, + 9.534662240184844e-06, + 9.540604878566228e-06, + 9.567269444232807e-06, + 9.633863555791322e-06, + 9.696374036138877e-06, + 9.706335731607396e-06, + 9.818993930821307e-06, + 9.944166777131613e-06, + 1.014388271869393e-05, + 1.0136399396287743e-05, + 1.0098324310092721e-05, + 1.0030941666627768e-05, + 9.935121852322482e-06, + 9.801724445424043e-06, + 9.634892194299027e-06, + 9.596185009286273e-06, + 9.607627362129278e-06, + 9.696388588054106e-06, + 9.827394023886882e-06, + 9.989773388952017e-06, + 1.0123715583176818e-05, + 1.029344457492698e-05, + 1.0640389518812299e-05, + 1.1013376024493482e-05, + 1.1346887731633615e-05, + 1.1527469723660033e-05, + 1.181789230031427e-05, + 1.2162874554633163e-05, + 1.2381082342471927e-05, + 1.248597982339561e-05, + 1.2563132258947007e-05, + 1.2593926840054337e-05, + 1.2612781574716792e-05, + 1.2602401511685457e-05, + 1.2566712030093186e-05, + 1.252585934707895e-05, + 1.2483334103308152e-05, + 1.2436865290510468e-05, + 1.2333934137132019e-05, + 1.2121909094275907e-05 + ] + ], + "episode_mean_losses": [ + 8.878895769726114e-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": 3.005038706760388e-06, + "observation_loss": 3.005038706760388e-06, + "chamfer": 2.547881877035252e-06, + "track": 4.5715682972513605e-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": 4.751923188450746e-05, + "observation_loss": 3.4115910239052027e-06, + "chamfer": 2.8846018267358886e-06, + "track": 5.269893108561519e-07, + "acceleration": 4.410764086060226e-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": 2.8925151127623394e-05, + "observation_loss": 3.958612978749443e-06, + "chamfer": 3.3317455745418556e-06, + "track": 6.268672336773307e-07, + "acceleration": 2.4966539058368653e-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": 1.4213830581866205e-05, + "observation_loss": 5.089113074063789e-06, + "chamfer": 4.199972863716539e-06, + "track": 8.891401535038312e-07, + "acceleration": 9.124717507802416e-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": 1.0472926078364253e-05, + "observation_loss": 6.0459142332547344e-06, + "chamfer": 4.8703027459851e-06, + "track": 1.1756114872696344e-06, + "acceleration": 4.4270122998568695e-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": 8.084823093668092e-06, + "observation_loss": 6.5427698245912325e-06, + "chamfer": 5.186640464671655e-06, + "track": 1.3561294736064156e-06, + "acceleration": 1.5420531553900219e-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": 8.607135896454565e-06, + "observation_loss": 6.493338787549874e-06, + "chamfer": 5.1309871196281165e-06, + "track": 1.362351781608595e-06, + "acceleration": 2.1137971089046914e-06, + "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": 7.5522298175201286e-06, + "observation_loss": 6.1338746490946505e-06, + "chamfer": 4.879274456470739e-06, + "track": 1.2546003063107491e-06, + "acceleration": 1.4183550547386403e-06, + "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": 6.789638973714318e-06, + "observation_loss": 5.895521553611616e-06, + "chamfer": 4.715011982625583e-06, + "track": 1.1805094572991948e-06, + "acceleration": 8.941173064158647e-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": 6.246725661185337e-06, + "observation_loss": 5.878394404135179e-06, + "chamfer": 4.722098765341798e-06, + "track": 1.1562955251065432e-06, + "acceleration": 3.6833114336332073e-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": 6.28410862191231e-06, + "observation_loss": 6.142848178569693e-06, + "chamfer": 4.9479958761367016e-06, + "track": 1.194852529806667e-06, + "acceleration": 1.412606422945828e-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": 6.537204171763733e-06, + "observation_loss": 6.426339496101718e-06, + "chamfer": 5.178815627004951e-06, + "track": 1.2475236417230917e-06, + "acceleration": 1.1086477513799764e-07, + "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": 6.766379556211177e-06, + "observation_loss": 6.712902177241631e-06, + "chamfer": 5.4229226407187525e-06, + "track": 1.2899797638965538e-06, + "acceleration": 5.3477418049396874e-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": 7.046234713925514e-06, + "observation_loss": 6.955588560231263e-06, + "chamfer": 5.633469299937133e-06, + "track": 1.3221191466072924e-06, + "acceleration": 9.064622474852513e-08, + "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": 7.135110536182765e-06, + "observation_loss": 7.102309155015973e-06, + "chamfer": 5.769406470790273e-06, + "track": 1.3329027979125385e-06, + "acceleration": 3.2801221294676e-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": 7.35836147214286e-06, + "observation_loss": 7.277395525306929e-06, + "chamfer": 5.921581305301515e-06, + "track": 1.3558143336922512e-06, + "acceleration": 8.096596815221346e-08, + "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": 7.349129646172514e-06, + "observation_loss": 7.179797648859676e-06, + "chamfer": 5.8517321122053545e-06, + "track": 1.328065309280646e-06, + "acceleration": 1.693318836260005e-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": 7.1053887040761765e-06, + "observation_loss": 6.8824729169136845e-06, + "chamfer": 5.632774900732329e-06, + "track": 1.2496982435550308e-06, + "acceleration": 2.2291587242762034e-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": 6.811880666646175e-06, + "observation_loss": 6.702735390717862e-06, + "chamfer": 5.50634877072298e-06, + "track": 1.1963867336817202e-06, + "acceleration": 1.091454464585695e-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": 6.813820618845057e-06, + "observation_loss": 6.694310286547989e-06, + "chamfer": 5.502046860783594e-06, + "track": 1.1922635394512326e-06, + "acceleration": 1.1951038914048695e-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": 6.911564014444593e-06, + "observation_loss": 6.736444447597023e-06, + "chamfer": 5.531399438041262e-06, + "track": 1.2050451232425985e-06, + "acceleration": 1.7511969474526268e-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": 6.7812666202371474e-06, + "observation_loss": 6.637169917667052e-06, + "chamfer": 5.462555691337911e-06, + "track": 1.174614340015978e-06, + "acceleration": 1.4409648940727493e-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": 6.523138381453464e-06, + "observation_loss": 6.36701315670507e-06, + "chamfer": 5.2607992984121665e-06, + "track": 1.1062136309192283e-06, + "acceleration": 1.5612506842899165e-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": 6.393364401446888e-06, + "observation_loss": 6.248960744414944e-06, + "chamfer": 5.161784883966902e-06, + "track": 1.087175860448042e-06, + "acceleration": 1.4440375650792703e-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": 6.662674422841519e-06, + "observation_loss": 6.520265742437914e-06, + "chamfer": 5.354412223823601e-06, + "track": 1.1658535186143126e-06, + "acceleration": 1.4240862356018624e-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": 7.225961326184915e-06, + "observation_loss": 6.9489210545725655e-06, + "chamfer": 5.656931080011418e-06, + "track": 1.2919900882479851e-06, + "acceleration": 2.7704030003405933e-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": 7.463730980816763e-06, + "observation_loss": 7.186923085100716e-06, + "chamfer": 5.8217601690557785e-06, + "track": 1.3651630297317752e-06, + "acceleration": 2.7680783887262805e-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": 7.4362960731377825e-06, + "observation_loss": 7.250966518768109e-06, + "chamfer": 5.877131570741767e-06, + "track": 1.3738351754000178e-06, + "acceleration": 1.8532973911078443e-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": 7.5296720751794055e-06, + "observation_loss": 7.121307589841308e-06, + "chamfer": 5.788621365354629e-06, + "track": 1.3326862244866788e-06, + "acceleration": 4.0836459902493516e-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": 7.172268396971049e-06, + "observation_loss": 6.942903837625636e-06, + "chamfer": 5.661494014930213e-06, + "track": 1.281409822695423e-06, + "acceleration": 2.2936477250823373e-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": 6.893984846101375e-06, + "observation_loss": 6.824529009463731e-06, + "chamfer": 5.576547664531972e-06, + "track": 1.247981344931759e-06, + "acceleration": 6.945569452909695e-08, + "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": 6.903886060172226e-06, + "observation_loss": 6.8501781242957804e-06, + "chamfer": 5.601294560619863e-06, + "track": 1.24888344998908e-06, + "acceleration": 5.370771916091144e-08, + "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": 7.058099072310142e-06, + "observation_loss": 6.977716566325398e-06, + "chamfer": 5.706838692276506e-06, + "track": 1.2708777603620547e-06, + "acceleration": 8.038259124987235e-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": 7.364959401456872e-06, + "observation_loss": 7.25994914319017e-06, + "chamfer": 5.915001565881539e-06, + "track": 1.3449474636217928e-06, + "acceleration": 1.050102582667023e-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": 7.5855059549212456e-06, + "observation_loss": 7.497363185393624e-06, + "chamfer": 6.092356215958716e-06, + "track": 1.405007196808583e-06, + "acceleration": 8.81426132082197e-08, + "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": 7.989485311554745e-06, + "observation_loss": 7.843786079320125e-06, + "chamfer": 6.343598215607926e-06, + "track": 1.5001874089648481e-06, + "acceleration": 1.4569944539744029e-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": 8.181524208339397e-06, + "observation_loss": 8.130531568895094e-06, + "chamfer": 6.544119969476014e-06, + "track": 1.5864118267927552e-06, + "acceleration": 5.0992646549730125e-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": 8.526563760824502e-06, + "observation_loss": 8.183712452591863e-06, + "chamfer": 6.584190941794077e-06, + "track": 1.5995211697372724e-06, + "acceleration": 3.428512229675107e-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": 8.25089227873832e-06, + "observation_loss": 8.173003152478486e-06, + "chamfer": 6.594848400709452e-06, + "track": 1.5781542970216833e-06, + "acceleration": 7.788931810637223e-08, + "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": 8.516109119227622e-06, + "observation_loss": 8.360232641280163e-06, + "chamfer": 6.733989266649587e-06, + "track": 1.6262431472569006e-06, + "acceleration": 1.558768332188265e-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": 8.96975052455673e-06, + "observation_loss": 8.76506237545982e-06, + "chamfer": 7.017459211056121e-06, + "track": 1.7476031644036993e-06, + "acceleration": 2.0468770856041374e-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": 9.213790690409951e-06, + "observation_loss": 9.079734809347428e-06, + "chamfer": 7.231118161143968e-06, + "track": 1.8486163071429473e-06, + "acceleration": 1.3405598053850554e-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": 9.324297934654169e-06, + "observation_loss": 9.21291302802274e-06, + "chamfer": 7.305660801648628e-06, + "track": 1.9072521126872743e-06, + "acceleration": 1.113852334810872e-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": 9.43971099331975e-06, + "observation_loss": 9.375039553560782e-06, + "chamfer": 7.407769317069324e-06, + "track": 1.9672702364914585e-06, + "acceleration": 6.467177371405342e-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": 9.481052074988838e-06, + "observation_loss": 9.39678920985898e-06, + "chamfer": 7.419436769851018e-06, + "track": 1.9773524400079623e-06, + "acceleration": 8.426283670814882e-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": 9.431063517695293e-06, + "observation_loss": 9.351603694085497e-06, + "chamfer": 7.386216111626709e-06, + "track": 1.965387355085113e-06, + "acceleration": 7.946015045945387e-08, + "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": 9.479732398176566e-06, + "observation_loss": 9.286792192142457e-06, + "chamfer": 7.338052910199622e-06, + "track": 1.9487395093165105e-06, + "acceleration": 1.9294000708214298e-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": 9.68868607742479e-06, + "observation_loss": 9.562241757521406e-06, + "chamfer": 7.520839972130489e-06, + "track": 2.0414015580172418e-06, + "acceleration": 1.2644474622902635e-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": 1.0169134839088656e-05, + "observation_loss": 1.0089017450809479e-05, + "chamfer": 7.851394911995158e-06, + "track": 2.2376223114406457e-06, + "acceleration": 8.011730301404896e-08, + "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": 1.0765133083623368e-05, + "observation_loss": 1.0518273484194651e-05, + "chamfer": 8.135632015182637e-06, + "track": 2.3826414690120146e-06, + "acceleration": 2.4685934363333217e-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": 1.0455922165419906e-05, + "observation_loss": 1.033786975312978e-05, + "chamfer": 8.021861503948458e-06, + "track": 2.316007794433972e-06, + "acceleration": 1.1805249044982702e-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": 1.01327350421343e-05, + "observation_loss": 9.98229006654583e-06, + "chamfer": 7.800504135957453e-06, + "track": 2.181785475841025e-06, + "acceleration": 1.5044491874505184e-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": 9.764030437509064e-06, + "observation_loss": 9.718820365378633e-06, + "chamfer": 7.6244778028922155e-06, + "track": 2.0943421077390667e-06, + "acceleration": 4.521036345295215e-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": 9.547702575218864e-06, + "observation_loss": 9.488839168625418e-06, + "chamfer": 7.457571882696357e-06, + "track": 2.0312672859290615e-06, + "acceleration": 5.886361265083906e-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": 9.553270501783118e-06, + "observation_loss": 9.489981493970845e-06, + "chamfer": 7.446428298862884e-06, + "track": 2.0435529677342856e-06, + "acceleration": 6.328945545419629e-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": 9.64213722909335e-06, + "observation_loss": 9.551084986014757e-06, + "chamfer": 7.481078228011029e-06, + "track": 2.070006985377404e-06, + "acceleration": 9.105224307859316e-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": 9.599154509487562e-06, + "observation_loss": 9.534662240184844e-06, + "chamfer": 7.4631602728914e-06, + "track": 2.071502422040794e-06, + "acceleration": 6.449251799267586e-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": 9.66544212133158e-06, + "observation_loss": 9.540604878566228e-06, + "chamfer": 7.442093192366883e-06, + "track": 2.09851191357302e-06, + "acceleration": 1.2483732803048042e-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": 9.822931133385282e-06, + "observation_loss": 9.567269444232807e-06, + "chamfer": 7.453547368641011e-06, + "track": 2.113722075591795e-06, + "acceleration": 2.55661262826834e-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": 1.0177953299717046e-05, + "observation_loss": 9.633863555791322e-06, + "chamfer": 7.470292530342704e-06, + "track": 2.1635710254486185e-06, + "acceleration": 5.440896302388865e-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": 1.0417473276902456e-05, + "observation_loss": 9.696374036138877e-06, + "chamfer": 7.506137990276329e-06, + "track": 2.190236500609899e-06, + "acceleration": 7.210992407635786e-07, + "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": 1.002924454951426e-05, + "observation_loss": 9.706335731607396e-06, + "chamfer": 7.509059287258424e-06, + "track": 2.197276216975297e-06, + "acceleration": 3.2290887475028285e-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": 9.92891364148818e-06, + "observation_loss": 9.818993930821307e-06, + "chamfer": 7.592752808704972e-06, + "track": 2.2262415768636856e-06, + "acceleration": 1.0991976751029142e-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": 1.0027694770542439e-05, + "observation_loss": 9.944166777131613e-06, + "chamfer": 7.672789251955692e-06, + "track": 2.271377752549597e-06, + "acceleration": 8.352782288056915e-08, + "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": 1.0216651389782783e-05, + "observation_loss": 1.014388271869393e-05, + "chamfer": 7.795822966727428e-06, + "track": 2.348059524592827e-06, + "acceleration": 7.276832292291147e-08, + "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": 1.0202382327406667e-05, + "observation_loss": 1.0136399396287743e-05, + "chamfer": 7.785909474478103e-06, + "track": 2.3504901491833152e-06, + "acceleration": 6.598296664606096e-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": 1.0263893273076974e-05, + "observation_loss": 1.0098324310092721e-05, + "chamfer": 7.744661161268596e-06, + "track": 2.35366292145045e-06, + "acceleration": 1.6556853665861127e-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": 1.0126387678610627e-05, + "observation_loss": 1.0030941666627768e-05, + "chamfer": 7.65782988310093e-06, + "track": 2.373111783526838e-06, + "acceleration": 9.544577039832802e-08, + "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": 1.0008274330175482e-05, + "observation_loss": 9.935121852322482e-06, + "chamfer": 7.566959993710043e-06, + "track": 2.3681616312387632e-06, + "acceleration": 7.315234995530773e-08, + "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": 1.0010569894802757e-05, + "observation_loss": 9.801724445424043e-06, + "chamfer": 7.482822638849029e-06, + "track": 2.3189018065750133e-06, + "acceleration": 2.0884534990273096e-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": 1.0154042684007436e-05, + "observation_loss": 9.634892194299027e-06, + "chamfer": 7.3940559559559915e-06, + "track": 2.2408360109693604e-06, + "acceleration": 5.191500349610578e-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": 9.880818652163725e-06, + "observation_loss": 9.596185009286273e-06, + "chamfer": 7.3704645728867035e-06, + "track": 2.2257204363995697e-06, + "acceleration": 2.846338702511275e-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": 9.811243216972798e-06, + "observation_loss": 9.607627362129278e-06, + "chamfer": 7.3905193858081475e-06, + "track": 2.21710752157378e-06, + "acceleration": 2.0361561325898947e-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": 9.90484932117397e-06, + "observation_loss": 9.696388588054106e-06, + "chamfer": 7.4559861786838155e-06, + "track": 2.24040240937029e-06, + "acceleration": 2.0846111681294133e-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": 9.905223123496398e-06, + "observation_loss": 9.827394023886882e-06, + "chamfer": 7.542444109276403e-06, + "track": 2.28495036935783e-06, + "acceleration": 7.782903566067034e-08, + "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": 1.002145199890947e-05, + "observation_loss": 9.989773388952017e-06, + "chamfer": 7.639865543751512e-06, + "track": 2.3499080725741806e-06, + "acceleration": 3.167875917142737e-08, + "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": 1.0162415492231958e-05, + "observation_loss": 1.0123715583176818e-05, + "chamfer": 7.694828127569053e-06, + "track": 2.428887228234089e-06, + "acceleration": 3.8700100901678525e-08, + "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": 1.0391524483566172e-05, + "observation_loss": 1.029344457492698e-05, + "chamfer": 7.77086188463727e-06, + "track": 2.522582235542359e-06, + "acceleration": 9.807976653064543e-08, + "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": 1.0878662578761578e-05, + "observation_loss": 1.0640389518812299e-05, + "chamfer": 7.943107448227238e-06, + "track": 2.6972825253324118e-06, + "acceleration": 2.3827324469039013e-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": 1.138912466558395e-05, + "observation_loss": 1.1013376024493482e-05, + "chamfer": 8.134852578223217e-06, + "track": 2.8785232188965892e-06, + "acceleration": 3.7574898215098074e-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": 1.1517345228639897e-05, + "observation_loss": 1.1346887731633615e-05, + "chamfer": 8.317852007166948e-06, + "track": 3.029035951840342e-06, + "acceleration": 1.7045756806055579e-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": 1.1626252671703696e-05, + "observation_loss": 1.1527469723660033e-05, + "chamfer": 8.403215360885952e-06, + "track": 3.124254590147757e-06, + "acceleration": 9.878288409481684e-08, + "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": 1.196385892399121e-05, + "observation_loss": 1.181789230031427e-05, + "chamfer": 8.580135727243032e-06, + "track": 3.2377565730712377e-06, + "acceleration": 1.459667231529238e-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": 1.2361173503450118e-05, + "observation_loss": 1.2162874554633163e-05, + "chamfer": 8.773509762249887e-06, + "track": 3.3893650197569514e-06, + "acceleration": 1.9829866459986079e-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": 1.2445369065972045e-05, + "observation_loss": 1.2381082342471927e-05, + "chamfer": 8.883780537871644e-06, + "track": 3.4973013498529326e-06, + "acceleration": 6.428631849075828e-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": 1.2570065337058622e-05, + "observation_loss": 1.248597982339561e-05, + "chamfer": 8.932099262892734e-06, + "track": 3.5538805605028756e-06, + "acceleration": 8.408571261497855e-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": 1.2626433999685105e-05, + "observation_loss": 1.2563132258947007e-05, + "chamfer": 8.976375283964444e-06, + "track": 3.5867574297299143e-06, + "acceleration": 6.330211732574753e-08, + "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": 1.264289312530309e-05, + "observation_loss": 1.2593926840054337e-05, + "chamfer": 8.970929229690228e-06, + "track": 3.6229978377377847e-06, + "acceleration": 4.896613958749185e-08, + "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": 1.2655824320972897e-05, + "observation_loss": 1.2612781574716792e-05, + "chamfer": 8.956623787526041e-06, + "track": 3.6561577871907502e-06, + "acceleration": 4.304314416003763e-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": 1.2716878700302914e-05, + "observation_loss": 1.2602401511685457e-05, + "chamfer": 8.959420483733993e-06, + "track": 3.642981027951464e-06, + "acceleration": 1.1447710335232841e-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": 1.2678498933382798e-05, + "observation_loss": 1.2566712030093186e-05, + "chamfer": 8.940639418142382e-06, + "track": 3.6260721572034527e-06, + "acceleration": 1.1178723724469819e-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": 1.2540390343929175e-05, + "observation_loss": 1.252585934707895e-05, + "chamfer": 8.905828508432023e-06, + "track": 3.620030838646926e-06, + "acceleration": 1.4531313929921907e-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": 1.2531844731711317e-05, + "observation_loss": 1.2483334103308152e-05, + "chamfer": 8.868073564372025e-06, + "track": 3.615260538936127e-06, + "acceleration": 4.851081669698942e-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": 1.2537394468381535e-05, + "observation_loss": 1.2436865290510468e-05, + "chamfer": 8.830245860735886e-06, + "track": 3.6066189750272315e-06, + "acceleration": 1.005288225996992e-07, + "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": 1.2433290066837799e-05, + "observation_loss": 1.2333934137132019e-05, + "chamfer": 8.775688002060633e-06, + "track": 3.5582456803240348e-06, + "acceleration": 9.93561144468913e-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": 1.2170959053037222e-05, + "observation_loss": 1.2121909094275907e-05, + "chamfer": 8.660917046654504e-06, + "track": 3.4609925023687538e-06, + "acceleration": 4.904955375195641e-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": 9.938210856338022e-06, + "chamfer_mean": 6.862155700559924e-06, + "track_mean": 2.0167400490341456e-06, + "acceleration_mean": 1.0593151169672559e-06, + "observation_score": 8.878895769726114e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4301341280006454 + }, + "score_arrays_file": "pass_scores/pass_end_0099.npz", + "score_arrays_sha256": "ff758e548e36780b0cdfa5fdb0cb1cfcb6093990727f07ebd446597cd665be70" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0100.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0100.json new file mode 100644 index 0000000000000000000000000000000000000000..88e743f7bd43a32a295bd401a6ee109f940a28c6 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0100.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9600, + "completed_passes": 100, + "snapshot": "pass_end_0100", + "candidate": true, + "snapshot_arrays_sha256": "a0de3238e85be33663ca4b7c4e7ace58b5648488001f2f99cce373e3e998593a", + "score": 8.866145198756689e-06, + "score_result": { + "score": 8.866145198756689e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.003086249009357e-06, + 3.409657210795558e-06, + 3.952701263187919e-06, + 5.07785352965584e-06, + 6.032290002622176e-06, + 6.530265636683907e-06, + 6.4888663473539054e-06, + 6.133295755716972e-06, + 5.894474270462524e-06, + 5.872517704119673e-06, + 6.132927410362754e-06, + 6.41224323771894e-06, + 6.6956208684132434e-06, + 6.9379625529109035e-06, + 7.082498996169306e-06, + 7.2561929300718475e-06, + 7.157816980907228e-06, + 6.860886969661806e-06, + 6.6807888288167305e-06, + 6.672319614153821e-06, + 6.713726179441437e-06, + 6.614237463509198e-06, + 6.343409495457308e-06, + 6.224328899406828e-06, + 6.492645752587123e-06, + 6.919561201357283e-06, + 7.159106189646991e-06, + 7.226474735944066e-06, + 7.099426511558704e-06, + 6.922977718204493e-06, + 6.805512384744361e-06, + 6.832834515080322e-06, + 6.960594419069821e-06, + 7.243202162499074e-06, + 7.481256943719927e-06, + 7.828302841517143e-06, + 8.11552945378935e-06, + 8.169570719473995e-06, + 8.157787306117825e-06, + 8.341981811099686e-06, + 8.74596389621729e-06, + 9.06150398805039e-06, + 9.194381163979415e-06, + 9.355825568491127e-06, + 9.377600690640975e-06, + 9.332416084362194e-06, + 9.267791028833017e-06, + 9.54453025769908e-06, + 1.0073978955915663e-05, + 1.0504650163056795e-05, + 1.03238235169556e-05, + 9.968330232368317e-06, + 9.705361662781797e-06, + 9.473968020756729e-06, + 9.473339559917804e-06, + 9.534083801554516e-06, + 9.517914804746397e-06, + 9.525049790681805e-06, + 9.551320545142516e-06, + 9.618689546186943e-06, + 9.682180461823009e-06, + 9.691560080682393e-06, + 9.806213711271994e-06, + 9.933590263244696e-06, + 1.0135254342458211e-05, + 1.0130472219316289e-05, + 1.009370134852361e-05, + 1.0027821190305986e-05, + 9.933290129993111e-06, + 9.799853614822496e-06, + 9.631263310438953e-06, + 9.591615707904566e-06, + 9.602415047993418e-06, + 9.689136277302168e-06, + 9.819450497161597e-06, + 9.980785762309097e-06, + 1.0113938515132759e-05, + 1.0283834853908047e-05, + 1.0633093552314676e-05, + 1.1007094144588336e-05, + 1.1342895959387533e-05, + 1.15243747131899e-05, + 1.181106472358806e-05, + 1.2155376680311747e-05, + 1.237495325767668e-05, + 1.2480830264394172e-05, + 1.2557985428429674e-05, + 1.2587897799676284e-05, + 1.2606499694811646e-05, + 1.2596568012668286e-05, + 1.256032737728674e-05, + 1.2520737072918564e-05, + 1.2478052667574957e-05, + 1.243145379703492e-05, + 1.2329005585343111e-05, + 1.2118094673496671e-05 + ] + ], + "episode_mean_losses": [ + 8.866145198756689e-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": 3.003086249009357e-06, + "observation_loss": 3.003086249009357e-06, + "chamfer": 2.54625729212421e-06, + "track": 4.568288716200186e-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": 4.743706085719168e-05, + "observation_loss": 3.409657210795558e-06, + "chamfer": 2.8830095288867597e-06, + "track": 5.266477387522173e-07, + "acceleration": 4.402740523801185e-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": 2.8910038963658735e-05, + "observation_loss": 3.952701263187919e-06, + "chamfer": 3.3270243875449523e-06, + "track": 6.256769324863853e-07, + "acceleration": 2.4957336790976115e-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": 1.4176629520079587e-05, + "observation_loss": 5.07785352965584e-06, + "chamfer": 4.191685547993984e-06, + "track": 8.861678111315996e-07, + "acceleration": 9.098775990423746e-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": 1.0453324648551643e-05, + "observation_loss": 6.032290002622176e-06, + "chamfer": 4.861395609623287e-06, + "track": 1.1708945066857268e-06, + "acceleration": 4.421035100676818e-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": 8.083761713351123e-06, + "observation_loss": 6.530265636683907e-06, + "chamfer": 5.178669198357966e-06, + "track": 1.3515962109522661e-06, + "acceleration": 1.5534958492935402e-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": 8.586006515542977e-06, + "observation_loss": 6.4888663473539054e-06, + "chamfer": 5.127960321260616e-06, + "track": 1.360906139780127e-06, + "acceleration": 2.097140168189071e-06, + "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": 7.520987310272176e-06, + "observation_loss": 6.133295755716972e-06, + "chamfer": 4.87868510390399e-06, + "track": 1.2546107654998195e-06, + "acceleration": 1.3876913271815283e-06, + "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": 6.779777777410345e-06, + "observation_loss": 5.894474270462524e-06, + "chamfer": 4.714058832178125e-06, + "track": 1.180415438284399e-06, + "acceleration": 8.853035637912399e-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": 6.2385497585637495e-06, + "observation_loss": 5.872517704119673e-06, + "chamfer": 4.718009222415276e-06, + "track": 1.1545083680175594e-06, + "acceleration": 3.660320828657859e-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": 6.2736762629356235e-06, + "observation_loss": 6.132927410362754e-06, + "chamfer": 4.941416136716725e-06, + "track": 1.1915115010197042e-06, + "acceleration": 1.4074863941004878e-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": 6.522328021674184e-06, + "observation_loss": 6.41224323771894e-06, + "chamfer": 5.1695183174160775e-06, + "track": 1.2427248066160246e-06, + "acceleration": 1.100847413226802e-07, + "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": 6.7495725488697644e-06, + "observation_loss": 6.6956208684132434e-06, + "chamfer": 5.411269285104936e-06, + "track": 1.284351810681983e-06, + "acceleration": 5.395158098053798e-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": 7.029246717138449e-06, + "observation_loss": 6.9379625529109035e-06, + "chamfer": 5.621553100354504e-06, + "track": 1.3164095662432374e-06, + "acceleration": 9.128437739036599e-08, + "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": 7.115540483937366e-06, + "observation_loss": 7.082498996169306e-06, + "chamfer": 5.755441179644549e-06, + "track": 1.3270575891510816e-06, + "acceleration": 3.30414700044912e-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": 7.337571787502384e-06, + "observation_loss": 7.2561929300718475e-06, + "chamfer": 5.906300884817028e-06, + "track": 1.3498921589416568e-06, + "acceleration": 8.137883611425423e-08, + "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": 7.3270553002657834e-06, + "observation_loss": 7.157816980907228e-06, + "chamfer": 5.835605861648219e-06, + "track": 1.3222112329458469e-06, + "acceleration": 1.6923816303915373e-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": 7.084089702402707e-06, + "observation_loss": 6.860886969661806e-06, + "chamfer": 5.6167400543927215e-06, + "track": 1.244147028955922e-06, + "acceleration": 2.232027327409014e-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": 6.791554824303603e-06, + "observation_loss": 6.6807888288167305e-06, + "chamfer": 5.489768227562308e-06, + "track": 1.1910206012544222e-06, + "acceleration": 1.1076593153802605e-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": 6.792463864258025e-06, + "observation_loss": 6.672319614153821e-06, + "chamfer": 5.4854940572113264e-06, + "track": 1.1868254432556569e-06, + "acceleration": 1.201440511522378e-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": 6.889373253216036e-06, + "observation_loss": 6.713726179441437e-06, + "chamfer": 5.514461463462794e-06, + "track": 1.199264715978643e-06, + "acceleration": 1.756468464009231e-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": 6.7596179178508464e-06, + "observation_loss": 6.614237463509198e-06, + "chamfer": 5.445370334200561e-06, + "track": 1.1688673566823127e-06, + "acceleration": 1.4538044013079343e-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": 6.500459676317405e-06, + "observation_loss": 6.343409495457308e-06, + "chamfer": 5.242726274445886e-06, + "track": 1.1006833346982603e-06, + "acceleration": 1.5705001032984e-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": 6.367374226101674e-06, + "observation_loss": 6.224328899406828e-06, + "chamfer": 5.142839654581621e-06, + "track": 1.0814892448252067e-06, + "acceleration": 1.4304548301424802e-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": 6.633679277001647e-06, + "observation_loss": 6.492645752587123e-06, + "chamfer": 5.333419267117279e-06, + "track": 1.1592264854698442e-06, + "acceleration": 1.4103345336025086e-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": 7.1968138399824966e-06, + "observation_loss": 6.919561201357283e-06, + "chamfer": 5.634989520331146e-06, + "track": 1.2845715673392988e-06, + "acceleration": 2.7725252493837615e-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": 7.436713985953247e-06, + "observation_loss": 7.159106189646991e-06, + "chamfer": 5.80105643166462e-06, + "track": 1.3580496442955337e-06, + "acceleration": 2.776077963062562e-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": 7.412961622321745e-06, + "observation_loss": 7.226474735944066e-06, + "chamfer": 5.858794338564621e-06, + "track": 1.3676805110662826e-06, + "acceleration": 1.864867158474226e-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": 7.5088842095283326e-06, + "observation_loss": 7.099426511558704e-06, + "chamfer": 5.77203172724694e-06, + "track": 1.3273946706249262e-06, + "acceleration": 4.094576127045002e-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": 7.153690603445284e-06, + "observation_loss": 6.922977718204493e-06, + "chamfer": 5.646288173011271e-06, + "track": 1.2766895451932214e-06, + "acceleration": 2.3071275734309893e-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": 6.87577630742453e-06, + "observation_loss": 6.805512384744361e-06, + "chamfer": 5.5619716476940084e-06, + "track": 1.2435405096766772e-06, + "acceleration": 7.026393689102406e-08, + "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": 6.886062237754231e-06, + "observation_loss": 6.832834515080322e-06, + "chamfer": 5.587988653132925e-06, + "track": 1.2448456345737213e-06, + "acceleration": 5.322788965145264e-08, + "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": 7.039595857349923e-06, + "observation_loss": 6.960594419069821e-06, + "chamfer": 5.6935500651889015e-06, + "track": 1.2670442401940818e-06, + "acceleration": 7.90013316986915e-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": 7.347358859988162e-06, + "observation_loss": 7.243202162499074e-06, + "chamfer": 5.902003977098502e-06, + "track": 1.341198071713734e-06, + "acceleration": 1.0415657669682332e-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": 7.568630280729849e-06, + "observation_loss": 7.481256943719927e-06, + "chamfer": 6.079962076910306e-06, + "track": 1.4012948668096215e-06, + "acceleration": 8.737329437735752e-08, + "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": 7.972455023264047e-06, + "observation_loss": 7.828302841517143e-06, + "chamfer": 6.331875283649424e-06, + "track": 1.4964277852413943e-06, + "acceleration": 1.4415229543374153e-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": 8.166529369191267e-06, + "observation_loss": 8.11552945378935e-06, + "chamfer": 6.532973657158436e-06, + "track": 1.5825561376914266e-06, + "acceleration": 5.0999538814267e-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": 8.513064130966086e-06, + "observation_loss": 8.169570719473995e-06, + "chamfer": 6.57401460557594e-06, + "track": 1.5955558865243802e-06, + "acceleration": 3.434935251789284e-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": 8.236926987592597e-06, + "observation_loss": 8.157787306117825e-06, + "chamfer": 6.5840963543450925e-06, + "track": 1.5736909517727327e-06, + "acceleration": 7.913938304682233e-08, + "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": 8.49983098305529e-06, + "observation_loss": 8.341981811099686e-06, + "chamfer": 6.720958936057286e-06, + "track": 1.6210233297897503e-06, + "acceleration": 1.5784941354013426e-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": 8.951991731009912e-06, + "observation_loss": 8.74596389621729e-06, + "chamfer": 7.004133294685744e-06, + "track": 1.7418303741578711e-06, + "acceleration": 2.0602756478638184e-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": 9.196114660880994e-06, + "observation_loss": 9.06150398805039e-06, + "chamfer": 7.218517112050904e-06, + "track": 1.8429869896863238e-06, + "acceleration": 1.3461026071581728e-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": 9.304863851866685e-06, + "observation_loss": 9.194381163979415e-06, + "chamfer": 7.292782811418874e-06, + "track": 1.9015986936210538e-06, + "acceleration": 1.1048253156786814e-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": 9.419943125976715e-06, + "observation_loss": 9.355825568491127e-06, + "chamfer": 7.394551175821107e-06, + "track": 1.961274620043696e-06, + "acceleration": 6.411736563904924e-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": 9.462622983846813e-06, + "observation_loss": 9.377600690640975e-06, + "chamfer": 7.406170880130958e-06, + "track": 1.9714300378836924e-06, + "acceleration": 8.502216530814621e-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": 9.412525287189055e-06, + "observation_loss": 9.332416084362194e-06, + "chamfer": 7.372922482318245e-06, + "track": 1.9594938294176245e-06, + "acceleration": 8.01092525648528e-08, + "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": 9.461712579650339e-06, + "observation_loss": 9.267791028833017e-06, + "chamfer": 7.32472472009249e-06, + "track": 1.9430658539931756e-06, + "acceleration": 1.9392149397390313e-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": 9.671173756942153e-06, + "observation_loss": 9.54453025769908e-06, + "chamfer": 7.5084058153152e-06, + "track": 2.0361242150102044e-06, + "acceleration": 1.2664311554999585e-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": 1.0154533811146393e-05, + "observation_loss": 1.0073978955915663e-05, + "chamfer": 7.841130354790948e-06, + "track": 2.2328488284983905e-06, + "acceleration": 8.055457101363572e-08, + "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": 1.0752118214440998e-05, + "observation_loss": 1.0504650163056795e-05, + "chamfer": 8.126509783323854e-06, + "track": 2.378140607106616e-06, + "acceleration": 2.474682219144597e-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": 1.0442646271258127e-05, + "observation_loss": 1.03238235169556e-05, + "chamfer": 8.01219266577391e-06, + "track": 2.3116313059290405e-06, + "acceleration": 1.1882295325449377e-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": 1.0119101716554724e-05, + "observation_loss": 9.968330232368317e-06, + "chamfer": 7.790835297782905e-06, + "track": 2.1774947072117357e-06, + "acceleration": 1.5077145576469775e-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": 9.75033708527917e-06, + "observation_loss": 9.705361662781797e-06, + "chamfer": 7.615455615450628e-06, + "track": 2.0899062747048447e-06, + "acceleration": 4.497549355164665e-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": 9.533157935948111e-06, + "observation_loss": 9.473968020756729e-06, + "chamfer": 7.4474310167715885e-06, + "track": 2.026536776611465e-06, + "acceleration": 5.9189840584394915e-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": 9.536897778161801e-06, + "observation_loss": 9.473339559917804e-06, + "chamfer": 7.4351987677800935e-06, + "track": 2.0381407921377104e-06, + "acceleration": 6.355813297886925e-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": 9.624497579352465e-06, + "observation_loss": 9.534083801554516e-06, + "chamfer": 7.469716820196481e-06, + "track": 2.0643674361053854e-06, + "acceleration": 9.041340121029862e-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": 9.581758604326751e-06, + "observation_loss": 9.517914804746397e-06, + "chamfer": 7.452055797330104e-06, + "track": 2.0658587800426176e-06, + "acceleration": 6.384343009813165e-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": 9.650541869632434e-06, + "observation_loss": 9.525049790681805e-06, + "chamfer": 7.431840458593797e-06, + "track": 2.0932093320880085e-06, + "acceleration": 1.254919510529362e-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": 9.809367838897742e-06, + "observation_loss": 9.551320545142516e-06, + "chamfer": 7.443364211212611e-06, + "track": 2.1079563339299057e-06, + "acceleration": 2.5804700953813153e-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": 1.0170116183871869e-05, + "observation_loss": 9.618689546186943e-06, + "chamfer": 7.460658707714174e-06, + "track": 2.158031065846444e-06, + "acceleration": 5.514262966244132e-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": 1.0416149962111376e-05, + "observation_loss": 9.682180461823009e-06, + "chamfer": 7.497301794501254e-06, + "track": 2.1848791220691055e-06, + "acceleration": 7.339693866015295e-07, + "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": 1.0020652553066611e-05, + "observation_loss": 9.691560080682393e-06, + "chamfer": 7.499981165892677e-06, + "track": 2.1915791421633912e-06, + "acceleration": 3.2909267133618414e-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": 9.916609087667894e-06, + "observation_loss": 9.806213711271994e-06, + "chamfer": 7.584798368043266e-06, + "track": 2.221415115855052e-06, + "acceleration": 1.1039501401910456e-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": 1.0017320164479315e-05, + "observation_loss": 9.933590263244696e-06, + "chamfer": 7.666105375392362e-06, + "track": 2.2674853425996844e-06, + "acceleration": 8.372948911983258e-08, + "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": 1.0207348168478347e-05, + "observation_loss": 1.0135254342458211e-05, + "chamfer": 7.79008860263275e-06, + "track": 2.3451659671991365e-06, + "acceleration": 7.209413155351285e-08, + "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": 1.019567389448639e-05, + "observation_loss": 1.0130472219316289e-05, + "chamfer": 7.781918611726724e-06, + "track": 2.3485531528422143e-06, + "acceleration": 6.520143358557107e-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": 1.025957681122236e-05, + "observation_loss": 1.009370134852361e-05, + "chamfer": 7.741540684946813e-06, + "track": 2.352160436203121e-06, + "acceleration": 1.6587512163823703e-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": 1.0123341780854389e-05, + "observation_loss": 1.0027821190305986e-05, + "chamfer": 7.65567983762594e-06, + "track": 2.372141807427397e-06, + "acceleration": 9.552059054840356e-08, + "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": 1.0006566299125552e-05, + "observation_loss": 9.933290129993111e-06, + "chamfer": 7.565677151433192e-06, + "track": 2.367613205933594e-06, + "acceleration": 7.327633255727051e-08, + "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": 1.0009606739913579e-05, + "observation_loss": 9.799853614822496e-06, + "chamfer": 7.481670763809234e-06, + "track": 2.318182851013262e-06, + "acceleration": 2.0975338088646822e-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": 1.0152585673495196e-05, + "observation_loss": 9.631263310438953e-06, + "chamfer": 7.391566214209888e-06, + "track": 2.2396968688553898e-06, + "acceleration": 5.213220219957293e-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": 9.878444870992098e-06, + "observation_loss": 9.591615707904566e-06, + "chamfer": 7.36726678951527e-06, + "track": 2.2243491457629716e-06, + "acceleration": 2.8682873676189047e-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": 9.800722182262689e-06, + "observation_loss": 9.602415047993418e-06, + "chamfer": 7.3867745413735975e-06, + "track": 2.215640733993496e-06, + "acceleration": 1.9830673636533902e-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": 9.875343494059052e-06, + "observation_loss": 9.689136277302168e-06, + "chamfer": 7.450944394804537e-06, + "track": 2.238192337244982e-06, + "acceleration": 1.86207117280901e-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": 9.891836270981003e-06, + "observation_loss": 9.819450497161597e-06, + "chamfer": 7.5373104664322454e-06, + "track": 2.2821400307293516e-06, + "acceleration": 7.238590171709802e-08, + "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": 1.001248529064469e-05, + "observation_loss": 9.980785762309097e-06, + "chamfer": 7.634241228515748e-06, + "track": 2.3465447611670243e-06, + "acceleration": 3.1699840974397375e-08, + "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": 1.0153125003853347e-05, + "observation_loss": 1.0113938515132759e-05, + "chamfer": 7.688739970035385e-06, + "track": 2.425198772471049e-06, + "acceleration": 3.918647806244735e-08, + "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": 1.0383307198935654e-05, + "observation_loss": 1.0283834853908047e-05, + "chamfer": 7.765176633256488e-06, + "track": 2.5186586753989104e-06, + "acceleration": 9.947255819042766e-08, + "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": 1.0883840332098771e-05, + "observation_loss": 1.0633093552314676e-05, + "chamfer": 7.939049282867927e-06, + "track": 2.6940438146993984e-06, + "acceleration": 2.5074658083212853e-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": 1.1427084245951846e-05, + "observation_loss": 1.1007094144588336e-05, + "chamfer": 8.130995411192998e-06, + "track": 2.876099188142689e-06, + "acceleration": 4.199904708457325e-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": 1.1522872227942571e-05, + "observation_loss": 1.1342895959387533e-05, + "chamfer": 8.315562809002586e-06, + "track": 3.0273326956375968e-06, + "acceleration": 1.7997670909153385e-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": 1.161874934041407e-05, + "observation_loss": 1.15243747131899e-05, + "chamfer": 8.401626473641954e-06, + "track": 3.1227477848005947e-06, + "acceleration": 9.437508197152056e-08, + "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": 1.1961024938500486e-05, + "observation_loss": 1.181106472358806e-05, + "chamfer": 8.576399523008149e-06, + "track": 3.2346652005799115e-06, + "acceleration": 1.4995977437592956e-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": 1.2352550584182609e-05, + "observation_loss": 1.2155376680311747e-05, + "chamfer": 8.7697717390256e-06, + "track": 3.3856044865387958e-06, + "acceleration": 1.9717359123205824e-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": 1.2439494639693294e-05, + "observation_loss": 1.237495325767668e-05, + "chamfer": 8.881065696186852e-06, + "track": 3.4938877888635034e-06, + "acceleration": 6.454098411268205e-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": 1.2564991266117431e-05, + "observation_loss": 1.2480830264394172e-05, + "chamfer": 8.93000378709985e-06, + "track": 3.5508260225469712e-06, + "acceleration": 8.41612504132172e-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": 1.262060868612025e-05, + "observation_loss": 1.2557985428429674e-05, + "chamfer": 8.974214324553031e-06, + "track": 3.5837713312503183e-06, + "acceleration": 6.262317242544668e-08, + "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": 1.263631202164106e-05, + "observation_loss": 1.2587897799676284e-05, + "chamfer": 8.968153451860417e-06, + "track": 3.6197438930685166e-06, + "acceleration": 4.841462342142222e-08, + "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": 1.2650091775867622e-05, + "observation_loss": 1.2606499694811646e-05, + "chamfer": 8.953749784268439e-06, + "track": 3.652749910543207e-06, + "acceleration": 4.359166894118971e-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": 1.2712209354504012e-05, + "observation_loss": 1.2596568012668286e-05, + "chamfer": 8.956906640378293e-06, + "track": 3.6396611449163174e-06, + "acceleration": 1.1564170421252129e-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": 1.267240077140741e-05, + "observation_loss": 1.256032737728674e-05, + "chamfer": 8.937476195569616e-06, + "track": 3.6228514090907993e-06, + "acceleration": 1.1207323069584163e-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": 1.2534981578937732e-05, + "observation_loss": 1.2520737072918564e-05, + "chamfer": 8.903168236429337e-06, + "track": 3.6175692912365776e-06, + "acceleration": 1.4244616153291645e-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": 1.2526651516964193e-05, + "observation_loss": 1.2478052667574957e-05, + "chamfer": 8.86543421074748e-06, + "track": 3.6126180020801257e-06, + "acceleration": 4.8598661095411444e-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": 1.2533421795524191e-05, + "observation_loss": 1.243145379703492e-05, + "chamfer": 8.827485544316005e-06, + "track": 3.6039677979715634e-06, + "acceleration": 1.0196806243811807e-07, + "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": 1.2430354217940476e-05, + "observation_loss": 1.2329005585343111e-05, + "chamfer": 8.773354238655884e-06, + "track": 3.5556513466872275e-06, + "acceleration": 1.0134830574770604e-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": 1.2167870409030002e-05, + "observation_loss": 1.2118094673496671e-05, + "chamfer": 8.659070772409905e-06, + "track": 3.4590241284604417e-06, + "acceleration": 4.977605883027536e-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": 9.924586973871405e-06, + "chamfer_mean": 6.853334407234494e-06, + "track_mean": 2.012810818463606e-06, + "acceleration_mean": 1.0584417235263526e-06, + "observation_score": 8.866145198756689e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4310354009994626 + }, + "score_arrays_file": "pass_scores/pass_end_0100.npz", + "score_arrays_sha256": "3af13376d4509d86b4b73c2e6a68fcf95351543edcb7a45ed0a8a4c57afb89d9" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0101.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0101.json new file mode 100644 index 0000000000000000000000000000000000000000..2353994650d20bbb5fd08d9a791fe62e89bf6978 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0101.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9696, + "completed_passes": 101, + "snapshot": "pass_end_0101", + "candidate": true, + "snapshot_arrays_sha256": "2897877ae566a1f5fd75131f2882e614056d1e16b23eb1f30a6c68d96b3a063e", + "score": 8.854233570332326e-06, + "score_result": { + "score": 8.854233570332326e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 3.001177447004011e-06, + 3.4075742405548226e-06, + 3.9466544876631815e-06, + 5.066358426120132e-06, + 6.018423846398946e-06, + 6.516524990729522e-06, + 6.4831947383936495e-06, + 6.132009730208665e-06, + 5.89242517889943e-06, + 5.866076207894366e-06, + 6.122395916463574e-06, + 6.397779543476645e-06, + 6.678584668406984e-06, + 6.920192845427664e-06, + 7.062593795126304e-06, + 7.234742497530533e-06, + 7.1354043029714376e-06, + 6.839201887487434e-06, + 6.658924576186109e-06, + 6.6504203459771816e-06, + 6.691047474305378e-06, + 6.591246801690431e-06, + 6.320501597656403e-06, + 6.200536972755799e-06, + 6.466105787694687e-06, + 6.8916651798645034e-06, + 7.13234294380527e-06, + 7.202269898698432e-06, + 7.0775158746982925e-06, + 6.902461336721899e-06, + 6.785589448554674e-06, + 6.814910193497781e-06, + 6.943525022506947e-06, + 7.226463822007645e-06, + 7.464282589353388e-06, + 7.811612704244908e-06, + 8.100404556898866e-06, + 8.155537216225639e-06, + 8.14230224932544e-06, + 8.323365364049096e-06, + 8.7260650616372e-06, + 9.041899829753675e-06, + 9.174493243335746e-06, + 9.335157301393338e-06, + 9.356728696729988e-06, + 9.311809662904125e-06, + 9.247590242011938e-06, + 9.525126188236754e-06, + 1.0056459359475411e-05, + 1.0487892723176628e-05, + 1.0306960575690027e-05, + 9.95251139102038e-06, + 9.690180377219804e-06, + 9.457628038944677e-06, + 9.45607007452054e-06, + 9.517302714812104e-06, + 9.501626664132345e-06, + 9.51039055507863e-06, + 9.53581456997199e-06, + 9.604798833606765e-06, + 9.670150575402658e-06, + 9.679239155957475e-06, + 9.796272934181616e-06, + 9.925832273438573e-06, + 1.0129125257662963e-05, + 1.0126665074494667e-05, + 1.0091086551256012e-05, + 1.0026294148701709e-05, + 9.93358753476059e-06, + 9.800591215025634e-06, + 9.631155990064144e-06, + 9.591509297024459e-06, + 9.601386409485713e-06, + 9.687042620498687e-06, + 9.81654375209473e-06, + 9.976291948987637e-06, + 1.0108006790687796e-05, + 1.0277956789650489e-05, + 1.0628954441926908e-05, + 1.1003824511135463e-05, + 1.1340756827848963e-05, + 1.1523103239596821e-05, + 1.1807180271716788e-05, + 1.2151383998570964e-05, + 1.2371401680866256e-05, + 1.2477772543206811e-05, + 1.2554912245832384e-05, + 1.258471002074657e-05, + 1.2603265531652141e-05, + 1.2592875464179087e-05, + 1.2557160516735166e-05, + 1.2518586117948871e-05, + 1.247566888196161e-05, + 1.2429467460606247e-05, + 1.2327733202255331e-05, + 1.2118074664613232e-05 + ] + ], + "episode_mean_losses": [ + 8.854233570332326e-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": 3.001177447004011e-06, + "observation_loss": 3.001177447004011e-06, + "chamfer": 2.5446688596275635e-06, + "track": 4.565086726415757e-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": 4.7352208639495075e-05, + "observation_loss": 3.4075742405548226e-06, + "chamfer": 2.881292630263488e-06, + "track": 5.262815534479159e-07, + "acceleration": 4.39446339441929e-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": 2.8898932214360684e-05, + "observation_loss": 3.9466544876631815e-06, + "chamfer": 3.322189286336652e-06, + "track": 6.244650876396918e-07, + "acceleration": 2.4952278181444854e-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": 1.4143673979560845e-05, + "observation_loss": 5.066358426120132e-06, + "chamfer": 4.183189048490021e-06, + "track": 8.831692639432731e-07, + "acceleration": 9.077315553440712e-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": 1.0435094736749306e-05, + "observation_loss": 6.018423846398946e-06, + "chamfer": 4.852310667047277e-06, + "track": 1.166113065664831e-06, + "acceleration": 4.416671345097711e-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": 8.07907144917408e-06, + "observation_loss": 6.516524990729522e-06, + "chamfer": 5.1697384151339065e-06, + "track": 1.3467866892824532e-06, + "acceleration": 1.5625462310708826e-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": 8.558941772207618e-06, + "observation_loss": 6.4831947383936495e-06, + "chamfer": 5.124205472384347e-06, + "track": 1.3589894933829783e-06, + "acceleration": 2.0757470338139683e-06, + "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": 7.484390152967535e-06, + "observation_loss": 6.132009730208665e-06, + "chamfer": 4.877603259956231e-06, + "track": 1.2544065839392715e-06, + "acceleration": 1.352380309072032e-06, + "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": 6.765659691154724e-06, + "observation_loss": 5.89242517889943e-06, + "chamfer": 4.7124435695877764e-06, + "track": 1.1799813819379779e-06, + "acceleration": 8.73234625942132e-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": 6.2288609115057625e-06, + "observation_loss": 5.866076207894366e-06, + "chamfer": 4.713567250291817e-06, + "track": 1.1525091849762248e-06, + "acceleration": 3.6278453308113967e-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": 6.26226028543897e-06, + "observation_loss": 6.122395916463574e-06, + "chamfer": 4.934480784868356e-06, + "track": 1.1879150179083808e-06, + "acceleration": 1.3986446845137834e-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": 6.5062008616223466e-06, + "observation_loss": 6.397779543476645e-06, + "chamfer": 5.160055934538832e-06, + "track": 1.2377237226246507e-06, + "acceleration": 1.0842143893796674e-07, + "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": 6.731891062372597e-06, + "observation_loss": 6.678584668406984e-06, + "chamfer": 5.399911060521845e-06, + "track": 1.2786734941983013e-06, + "acceleration": 5.3306280278775375e-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": 7.010925401118584e-06, + "observation_loss": 6.920192845427664e-06, + "chamfer": 5.609605068457313e-06, + "track": 1.3105876632835134e-06, + "acceleration": 9.073255569091998e-08, + "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": 7.096157332853181e-06, + "observation_loss": 7.062593795126304e-06, + "chamfer": 5.741479071730282e-06, + "track": 1.3211146097091842e-06, + "acceleration": 3.356359101758244e-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": 7.316978098970139e-06, + "observation_loss": 7.234742497530533e-06, + "chamfer": 5.8909004110319074e-06, + "track": 1.3438420864986256e-06, + "acceleration": 8.223569381016205e-08, + "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": 7.305116923816968e-06, + "observation_loss": 7.1354043029714376e-06, + "chamfer": 5.819179477839498e-06, + "track": 1.3162250525056152e-06, + "acceleration": 1.6971270611065847e-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": 7.062519216560759e-06, + "observation_loss": 6.839201887487434e-06, + "chamfer": 5.600685199169675e-06, + "track": 1.2385164609440835e-06, + "acceleration": 2.2331715854306822e-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": 6.769959782104706e-06, + "observation_loss": 6.658924576186109e-06, + "chamfer": 5.473297278513201e-06, + "track": 1.1856270702992333e-06, + "acceleration": 1.1103534092171685e-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": 6.7704722823691554e-06, + "observation_loss": 6.6504203459771816e-06, + "chamfer": 5.469044936035061e-06, + "track": 1.1813752962552826e-06, + "acceleration": 1.2005202165710216e-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": 6.866810053907102e-06, + "observation_loss": 6.691047474305378e-06, + "chamfer": 5.497577149071731e-06, + "track": 1.1934702115468099e-06, + "acceleration": 1.7576272171027085e-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": 6.7377686718828045e-06, + "observation_loss": 6.591246801690431e-06, + "chamfer": 5.428151780506596e-06, + "track": 1.1630950211838353e-06, + "acceleration": 1.4652191282493732e-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": 6.478229806816671e-06, + "observation_loss": 6.320501597656403e-06, + "chamfer": 5.225176664680475e-06, + "track": 1.095324705602252e-06, + "acceleration": 1.5772836547967017e-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": 6.341560947475955e-06, + "observation_loss": 6.200536972755799e-06, + "chamfer": 5.124564722791547e-06, + "track": 1.0759722499642521e-06, + "acceleration": 1.4102408840699354e-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": 6.6056491050403565e-06, + "observation_loss": 6.466105787694687e-06, + "chamfer": 5.313253950589569e-06, + "track": 1.15285172341828e-06, + "acceleration": 1.3954343103250721e-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": 7.168682714109309e-06, + "observation_loss": 6.8916651798645034e-06, + "chamfer": 5.614185283775441e-06, + "track": 1.2774800097758998e-06, + "acceleration": 2.77017363714549e-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": 7.411156275338726e-06, + "observation_loss": 7.13234294380527e-06, + "chamfer": 5.781097570434213e-06, + "track": 1.3512456007447327e-06, + "acceleration": 2.788133031117468e-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": 7.389831807813607e-06, + "observation_loss": 7.202269898698432e-06, + "chamfer": 5.840684025315568e-06, + "track": 1.3615859870697022e-06, + "acceleration": 1.8756186648261064e-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": 7.488355549867265e-06, + "observation_loss": 7.0775158746982925e-06, + "chamfer": 5.755415259045549e-06, + "track": 1.3221003882790683e-06, + "acceleration": 4.10839447795297e-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": 7.13508734406787e-06, + "observation_loss": 6.902461336721899e-06, + "chamfer": 5.630602117889794e-06, + "track": 1.2718592188321054e-06, + "acceleration": 2.32625893659133e-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": 6.856555501144612e-06, + "observation_loss": 6.785589448554674e-06, + "chamfer": 5.546653028432047e-06, + "track": 1.2389363064357894e-06, + "acceleration": 7.096609522250219e-08, + "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": 6.867451702419203e-06, + "observation_loss": 6.814910193497781e-06, + "chamfer": 5.5742434597050305e-06, + "track": 1.2406665064190747e-06, + "acceleration": 5.254134549659284e-08, + "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": 7.021346391411498e-06, + "observation_loss": 6.943525022506947e-06, + "chamfer": 5.6802882681949995e-06, + "track": 1.2632368679987849e-06, + "acceleration": 7.78213831154062e-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": 7.33123442842043e-06, + "observation_loss": 7.226463822007645e-06, + "chamfer": 5.889020030735992e-06, + "track": 1.3374440186453285e-06, + "acceleration": 1.0477060641278513e-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": 7.552005172328791e-06, + "observation_loss": 7.464282589353388e-06, + "chamfer": 6.066915375413373e-06, + "track": 1.3973673276268528e-06, + "acceleration": 8.772241244514589e-08, + "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": 7.955147339089308e-06, + "observation_loss": 7.811612704244908e-06, + "chamfer": 6.319271051324904e-06, + "track": 1.4923413118594908e-06, + "acceleration": 1.4353489063978486e-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": 8.150855137500912e-06, + "observation_loss": 8.100404556898866e-06, + "chamfer": 6.521794148284243e-06, + "track": 1.5786107496751356e-06, + "acceleration": 5.045015072369097e-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": 8.499676368955988e-06, + "observation_loss": 8.155537216225639e-06, + "chamfer": 6.563940587511752e-06, + "track": 1.5915961739665363e-06, + "acceleration": 3.44138726404708e-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": 8.223877557611559e-06, + "observation_loss": 8.14230224932544e-06, + "chamfer": 6.573192877112888e-06, + "track": 1.569109144838876e-06, + "acceleration": 8.15755853977862e-08, + "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": 8.482741577608977e-06, + "observation_loss": 8.323365364049096e-06, + "chamfer": 6.707673946948489e-06, + "track": 1.6156913034137688e-06, + "acceleration": 1.5937585828851297e-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": 8.932479431678075e-06, + "observation_loss": 8.7260650616372e-06, + "chamfer": 6.9902080213068984e-06, + "track": 1.735857040330302e-06, + "acceleration": 2.0641432740831078e-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": 9.176658750220668e-06, + "observation_loss": 9.041899829753675e-06, + "chamfer": 7.204853773146169e-06, + "track": 1.8370458292338299e-06, + "acceleration": 1.34758920466993e-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": 9.283980944019277e-06, + "observation_loss": 9.174493243335746e-06, + "chamfer": 7.278917109942995e-06, + "track": 1.8955756786454003e-06, + "acceleration": 1.0948794226806058e-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": 9.398250767844729e-06, + "observation_loss": 9.335157301393338e-06, + "chamfer": 7.38026619728771e-06, + "track": 1.9548913314793026e-06, + "acceleration": 6.309360855993873e-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": 9.441654583497439e-06, + "observation_loss": 9.356728696729988e-06, + "chamfer": 7.391550752799958e-06, + "track": 1.9651781713037053e-06, + "acceleration": 8.492554570693756e-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": 9.392112588102464e-06, + "observation_loss": 9.311809662904125e-06, + "chamfer": 7.358534730883548e-06, + "track": 1.953275159394252e-06, + "acceleration": 8.03033159968436e-08, + "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": 9.442539521842264e-06, + "observation_loss": 9.247590242011938e-06, + "chamfer": 7.310560249607079e-06, + "track": 1.937029765031184e-06, + "acceleration": 1.9494933667374426e-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": 9.652306289353874e-06, + "observation_loss": 9.525126188236754e-06, + "chamfer": 7.4948138717445545e-06, + "track": 2.0303125438658753e-06, + "acceleration": 1.2717990216515318e-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": 1.013749078992987e-05, + "observation_loss": 1.0056459359475411e-05, + "chamfer": 7.829179594409652e-06, + "track": 2.227279537692084e-06, + "acceleration": 8.103112492108266e-08, + "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": 1.073592466127593e-05, + "observation_loss": 1.0487892723176628e-05, + "chamfer": 8.115223863569554e-06, + "track": 2.3726684048597235e-06, + "acceleration": 2.4803176756904577e-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": 1.0426361768622883e-05, + "observation_loss": 1.0306960575690027e-05, + "chamfer": 8.00058387540048e-06, + "track": 2.306376472915872e-06, + "acceleration": 1.1940159083678736e-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": 1.0103140084538609e-05, + "observation_loss": 9.95251139102038e-06, + "chamfer": 7.77994137024507e-06, + "track": 2.1725704755226616e-06, + "acceleration": 1.5062852298797225e-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": 9.735287676448934e-06, + "observation_loss": 9.690180377219804e-06, + "chamfer": 7.605254722875543e-06, + "track": 2.0849261090916116e-06, + "acceleration": 4.510707896088206e-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": 9.517076250631362e-06, + "observation_loss": 9.457628038944677e-06, + "chamfer": 7.436193300236482e-06, + "track": 2.02143496608187e-06, + "acceleration": 5.944807313085221e-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": 9.51947095018113e-06, + "observation_loss": 9.45607007452054e-06, + "chamfer": 7.423459464916959e-06, + "track": 2.03261060960358e-06, + "acceleration": 6.340055591635974e-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": 9.60722263698699e-06, + "observation_loss": 9.517302714812104e-06, + "chamfer": 7.458467280230252e-06, + "track": 2.058835661955527e-06, + "acceleration": 8.991973032834721e-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": 9.564534593664575e-06, + "observation_loss": 9.501626664132345e-06, + "chamfer": 7.441198249580339e-06, + "track": 2.060428414552007e-06, + "acceleration": 6.290773768569125e-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": 9.636818504077382e-06, + "observation_loss": 9.51039055507863e-06, + "chamfer": 7.422179351124214e-06, + "track": 2.0882112039544154e-06, + "acceleration": 1.2642836111353972e-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": 9.798562132345978e-06, + "observation_loss": 9.53581456997199e-06, + "chamfer": 7.4335162025818136e-06, + "track": 2.1022983673901763e-06, + "acceleration": 2.6274767606082605e-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": 1.0164006198465358e-05, + "observation_loss": 9.604798833606765e-06, + "chamfer": 7.451946657965891e-06, + "track": 2.1528526303882245e-06, + "acceleration": 5.592071374849183e-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": 1.0413808922749013e-05, + "observation_loss": 9.670150575402658e-06, + "chamfer": 7.489914878533455e-06, + "track": 2.1802359242428793e-06, + "acceleration": 7.436587452502863e-07, + "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": 1.001353120955173e-05, + "observation_loss": 9.679239155957475e-06, + "chamfer": 7.492586519219913e-06, + "track": 2.1866524093638873e-06, + "acceleration": 3.342917977988691e-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": 9.907544153975323e-06, + "observation_loss": 9.796272934181616e-06, + "chamfer": 7.578702934551984e-06, + "track": 2.217569772255956e-06, + "acceleration": 1.1127140453481843e-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": 1.0009876859840006e-05, + "observation_loss": 9.925832273438573e-06, + "chamfer": 7.661366907996126e-06, + "track": 2.2644653654424474e-06, + "acceleration": 8.404430218433845e-08, + "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": 1.0200210454058833e-05, + "observation_loss": 1.0129125257662963e-05, + "chamfer": 7.786103196849581e-06, + "track": 2.343021833439707e-06, + "acceleration": 7.108526745014387e-08, + "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": 1.0190793545916677e-05, + "observation_loss": 1.0126665074494667e-05, + "chamfer": 7.779414772812743e-06, + "track": 2.3472507564292755e-06, + "acceleration": 6.41289190639327e-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": 1.0257166650262661e-05, + "observation_loss": 1.0091086551256012e-05, + "chamfer": 7.739839929854497e-06, + "track": 2.351246621401515e-06, + "acceleration": 1.6607984321126423e-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": 1.0121718332811724e-05, + "observation_loss": 1.0026294148701709e-05, + "chamfer": 7.654611181351356e-06, + "track": 2.3716829673503526e-06, + "acceleration": 9.542454648681087e-08, + "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": 1.0006858246924821e-05, + "observation_loss": 9.93358753476059e-06, + "chamfer": 7.565882242488442e-06, + "track": 2.367705519645824e-06, + "acceleration": 7.327109585730796e-08, + "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": 1.001155669655418e-05, + "observation_loss": 9.800591215025634e-06, + "chamfer": 7.482255568902474e-06, + "track": 2.318335873496835e-06, + "acceleration": 2.1096511204632407e-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": 1.0155600648431573e-05, + "observation_loss": 9.631155990064144e-06, + "chamfer": 7.391507551801624e-06, + "track": 2.239648665636196e-06, + "acceleration": 5.244444309937535e-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": 9.880346624413505e-06, + "observation_loss": 9.591509297024459e-06, + "chamfer": 7.367159469140461e-06, + "track": 2.2243500552576734e-06, + "acceleration": 2.888369863285334e-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": 9.794768629944883e-06, + "observation_loss": 9.601386409485713e-06, + "chamfer": 7.385843218798982e-06, + "track": 2.2155436454340816e-06, + "acceleration": 1.933820783506235e-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": 9.851736649579834e-06, + "observation_loss": 9.687042620498687e-06, + "chamfer": 7.449414169968804e-06, + "track": 2.237627995782532e-06, + "acceleration": 1.646940717137113e-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": 9.883290658763144e-06, + "observation_loss": 9.81654375209473e-06, + "chamfer": 7.535478289355524e-06, + "track": 2.2810656901128823e-06, + "acceleration": 6.674647323734462e-08, + "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": 1.000816064333776e-05, + "observation_loss": 9.976291948987637e-06, + "chamfer": 7.631579137523659e-06, + "track": 2.3447130388376536e-06, + "acceleration": 3.1868779615251697e-08, + "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": 1.0147829016204923e-05, + "observation_loss": 1.0108006790687796e-05, + "chamfer": 7.685142918489873e-06, + "track": 2.4228638721979223e-06, + "acceleration": 3.982264473734176e-08, + "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": 1.0379076229583006e-05, + "observation_loss": 1.0277956789650489e-05, + "chamfer": 7.761796041449998e-06, + "track": 2.516160748200491e-06, + "acceleration": 1.011197596767488e-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": 1.0871694030356593e-05, + "observation_loss": 1.0628954441926908e-05, + "chamfer": 7.936848305689637e-06, + "track": 2.6921063636109466e-06, + "acceleration": 2.4274001475532714e-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": 1.1393080967536662e-05, + "observation_loss": 1.1003824511135463e-05, + "chamfer": 8.129063644446433e-06, + "track": 2.8747606393153546e-06, + "acceleration": 3.8925631429265195e-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": 1.1511795491969679e-05, + "observation_loss": 1.1340756827848963e-05, + "chamfer": 8.31435954751214e-06, + "track": 3.0263975077104988e-06, + "acceleration": 1.7103845095789438e-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": 1.1614228242251556e-05, + "observation_loss": 1.1523103239596821e-05, + "chamfer": 8.40097800391959e-06, + "track": 3.122125690424582e-06, + "acceleration": 9.112512344700008e-08, + "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": 1.1960722076764796e-05, + "observation_loss": 1.1807180271716788e-05, + "chamfer": 8.574364073865581e-06, + "track": 3.2328157431038562e-06, + "acceleration": 1.5354191873484524e-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": 1.2349811186140869e-05, + "observation_loss": 1.2151383998570964e-05, + "chamfer": 8.768050065555144e-06, + "track": 3.3833339330158196e-06, + "acceleration": 1.9842738652187109e-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": 1.2437140867405105e-05, + "observation_loss": 1.2371401680866256e-05, + "chamfer": 8.879755114321597e-06, + "track": 3.4916465665446594e-06, + "acceleration": 6.573912969543017e-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": 1.2561780749820173e-05, + "observation_loss": 1.2477772543206811e-05, + "chamfer": 8.929010618885513e-06, + "track": 3.548761696947622e-06, + "acceleration": 8.400842688160992e-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": 1.261746911040973e-05, + "observation_loss": 1.2554912245832384e-05, + "chamfer": 8.97324935067445e-06, + "track": 3.5816624404105823e-06, + "acceleration": 6.255694273704648e-08, + "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": 1.263351623492781e-05, + "observation_loss": 1.258471002074657e-05, + "chamfer": 8.967078429122921e-06, + "track": 3.617631591623649e-06, + "acceleration": 4.880590509515059e-08, + "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": 1.264800812350586e-05, + "observation_loss": 1.2603265531652141e-05, + "chamfer": 8.952644748205785e-06, + "track": 3.650620556072681e-06, + "acceleration": 4.474258474829185e-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": 1.2708924259641208e-05, + "observation_loss": 1.2592875464179087e-05, + "chamfer": 8.955545126809739e-06, + "track": 3.6373305647430243e-06, + "acceleration": 1.1604906546835991e-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": 1.2668328963627573e-05, + "observation_loss": 1.2557160516735166e-05, + "chamfer": 8.936285667004995e-06, + "track": 3.6208743949828204e-06, + "acceleration": 1.1116885900719353e-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": 1.2531731954368297e-05, + "observation_loss": 1.2518586117948871e-05, + "chamfer": 8.902257832232863e-06, + "track": 3.616328513089684e-06, + "acceleration": 1.3145736055264479e-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": 1.2524221347121056e-05, + "observation_loss": 1.247566888196161e-05, + "chamfer": 8.864454684953671e-06, + "track": 3.6112139696342638e-06, + "acceleration": 4.8552511344723825e-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": 1.2532750588434283e-05, + "observation_loss": 1.2429467460606247e-05, + "chamfer": 8.8267133833142e-06, + "track": 3.602754304665723e-06, + "acceleration": 1.0328295019235156e-07, + "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": 1.2430487004166935e-05, + "observation_loss": 1.2327733202255331e-05, + "chamfer": 8.773125045991037e-06, + "track": 3.5546079288906185e-06, + "acceleration": 1.027534253239537e-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": 1.2167995919298846e-05, + "observation_loss": 1.2118074664613232e-05, + "chamfer": 8.659480045025703e-06, + "track": 3.458594846961205e-06, + "acceleration": 4.9920821254545444e-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": 9.91049954279788e-06, + "chamfer_mean": 6.845023544125676e-06, + "track_mean": 2.0092100276869473e-06, + "acceleration_mean": 1.056265963981599e-06, + "observation_score": 8.854233570332326e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4298336190004193 + }, + "score_arrays_file": "pass_scores/pass_end_0101.npz", + "score_arrays_sha256": "84f5441e1309a47dc7e4c48aa1519f753eff49ff897c0c9f6c3eb8fa179a0102" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0102.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0102.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd662b80579fcf44bf0ef67dfef363671d5517d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0102.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9792, + "completed_passes": 102, + "snapshot": "pass_end_0102", + "candidate": true, + "snapshot_arrays_sha256": "e173f0fd2e7a82f402cc5144a6935c3a940707207f6f9006499c7ac2b23d7489", + "score": 8.844291395841234e-06, + "score_result": { + "score": 8.844291395841234e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.99929433822399e-06, + 3.4055206015182193e-06, + 3.940559963666601e-06, + 5.054811481386423e-06, + 6.004657734592911e-06, + 6.502282758447109e-06, + 6.47654678687104e-06, + 6.130130714154802e-06, + 5.889405656489544e-06, + 5.8584610087564215e-06, + 6.110441972850822e-06, + 6.383440450008493e-06, + 6.662042324023787e-06, + 6.902942459419137e-06, + 7.043899586278712e-06, + 7.21501646694378e-06, + 7.115315838746028e-06, + 6.819862392148934e-06, + 6.638834747718647e-06, + 6.630265033891192e-06, + 6.670548827969469e-06, + 6.570612640643958e-06, + 6.298768312262837e-06, + 6.178642706800019e-06, + 6.4417076828249265e-06, + 6.8663030106108636e-06, + 7.108743830031017e-06, + 7.181596629379783e-06, + 7.058368282741867e-06, + 6.8850922616547905e-06, + 6.769453193555819e-06, + 6.8004537752131e-06, + 6.930561539775226e-06, + 7.213245226012077e-06, + 7.452087174897315e-06, + 7.800170351401903e-06, + 8.088699360087048e-06, + 8.144403182086535e-06, + 8.13056067272555e-06, + 8.309688382723834e-06, + 8.712141607247759e-06, + 9.028695785673335e-06, + 9.160848094325047e-06, + 9.320126082457136e-06, + 9.341360055259429e-06, + 9.296947609982453e-06, + 9.23359129956225e-06, + 9.512849828752223e-06, + 1.0046987881651148e-05, + 1.047960358846467e-05, + 1.0297909284417983e-05, + 9.943784789356869e-06, + 9.681883966550231e-06, + 9.447783668292686e-06, + 9.44472321862122e-06, + 9.505616617389023e-06, + 9.490311640547588e-06, + 9.500150554231368e-06, + 9.524655979475938e-06, + 9.594754374120384e-06, + 9.661347576184198e-06, + 9.67047435551649e-06, + 9.789679097593762e-06, + 9.921694072545506e-06, + 1.0127442692464683e-05, + 1.0127498171641491e-05, + 1.0093201126437634e-05, + 1.002927001536591e-05, + 9.937805771187413e-06, + 9.804665751289576e-06, + 9.633248737372924e-06, + 9.59220778895542e-06, + 9.599873010301962e-06, + 9.683891221357044e-06, + 9.811467862164136e-06, + 9.969853635993786e-06, + 1.0100561667059083e-05, + 1.0270360689901281e-05, + 1.0623417438182514e-05, + 1.0998869584000204e-05, + 1.1336998795741238e-05, + 1.1520336556714028e-05, + 1.1802148037531879e-05, + 1.2146023436798714e-05, + 1.2366888768156059e-05, + 1.247361706191441e-05, + 1.2550159226520918e-05, + 1.2579224858200178e-05, + 1.2597922250279225e-05, + 1.2586966477101669e-05, + 1.2551251529657748e-05, + 1.2513693036453333e-05, + 1.247019554284634e-05, + 1.2424095984897576e-05, + 1.2322957445576321e-05, + 1.2114499440940563e-05 + ] + ], + "episode_mean_losses": [ + 8.844291395841234e-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": 2.99929433822399e-06, + "observation_loss": 2.99929433822399e-06, + "chamfer": 2.5431015728827333e-06, + "track": 4.5619276534125675e-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": 4.7269273636629805e-05, + "observation_loss": 3.4055206015182193e-06, + "chamfer": 2.879596877392032e-06, + "track": 5.259238378130249e-07, + "acceleration": 4.386375439935364e-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": 2.8875099815195426e-05, + "observation_loss": 3.940559963666601e-06, + "chamfer": 3.3173032534250524e-06, + "track": 6.232567670849676e-07, + "acceleration": 2.4934539396781474e-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": 1.4104503861744888e-05, + "observation_loss": 5.054811481386423e-06, + "chamfer": 4.174636160314549e-06, + "track": 8.801754347587121e-07, + "acceleration": 9.049692380358465e-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": 1.0416242730570957e-05, + "observation_loss": 6.004657734592911e-06, + "chamfer": 4.843266196985496e-06, + "track": 1.1613913102337392e-06, + "acceleration": 4.411584995978046e-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": 8.069359864748549e-06, + "observation_loss": 6.502282758447109e-06, + "chamfer": 5.160415184946032e-06, + "track": 1.3418676871879143e-06, + "acceleration": 1.5670769926146022e-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": 8.527913450961933e-06, + "observation_loss": 6.47654678687104e-06, + "chamfer": 5.119849447510205e-06, + "track": 1.3566972256739973e-06, + "acceleration": 2.051367118838243e-06, + "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": 7.444150924129644e-06, + "observation_loss": 6.130130714154802e-06, + "chamfer": 4.876139882981079e-06, + "track": 1.2539909448605613e-06, + "acceleration": 1.3140200962880044e-06, + "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": 6.750968168489635e-06, + "observation_loss": 5.889405656489544e-06, + "chamfer": 4.71027033199789e-06, + "track": 1.179135551865329e-06, + "acceleration": 8.61562682530348e-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": 6.216600922925863e-06, + "observation_loss": 5.8584610087564215e-06, + "chamfer": 4.708393134933431e-06, + "track": 1.1500676464493154e-06, + "acceleration": 3.581400846996985e-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": 6.248761565075256e-06, + "observation_loss": 6.110441972850822e-06, + "chamfer": 4.926589554088423e-06, + "track": 1.1838524187623989e-06, + "acceleration": 1.383195780135793e-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": 6.49062803859124e-06, + "observation_loss": 6.383440450008493e-06, + "chamfer": 5.150695869815536e-06, + "track": 1.2327444665061194e-06, + "acceleration": 1.0718743226334482e-07, + "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": 6.716286861774279e-06, + "observation_loss": 6.662042324023787e-06, + "chamfer": 5.388908903114498e-06, + "track": 1.2731336482829647e-06, + "acceleration": 5.424464077918856e-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": 6.994062005105661e-06, + "observation_loss": 6.902942459419137e-06, + "chamfer": 5.597985364147462e-06, + "track": 1.304957095271675e-06, + "acceleration": 9.111941068340457e-08, + "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": 7.078022008499829e-06, + "observation_loss": 7.043899586278712e-06, + "chamfer": 5.728349151468137e-06, + "track": 1.3155505484974128e-06, + "acceleration": 3.412257498780491e-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": 7.298546279344009e-06, + "observation_loss": 7.21501646694378e-06, + "chamfer": 5.876724117115373e-06, + "track": 1.3382924635152449e-06, + "acceleration": 8.352965608082741e-08, + "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": 7.2871221163950395e-06, + "observation_loss": 7.115315838746028e-06, + "chamfer": 5.804406100651249e-06, + "track": 1.3109098517816165e-06, + "acceleration": 1.7180610711875488e-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": 7.044691301416606e-06, + "observation_loss": 6.819862392148934e-06, + "chamfer": 5.5863156376290135e-06, + "track": 1.2335465271462454e-06, + "acceleration": 2.2482913664134685e-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": 6.751295131834922e-06, + "observation_loss": 6.638834747718647e-06, + "chamfer": 5.458106443256838e-06, + "track": 1.1807280770881334e-06, + "acceleration": 1.1246032016742902e-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": 6.751324235665379e-06, + "observation_loss": 6.630265033891192e-06, + "chamfer": 5.453850462799892e-06, + "track": 1.1764145710912999e-06, + "acceleration": 1.2105907387649495e-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": 6.8472782004391775e-06, + "observation_loss": 6.670548827969469e-06, + "chamfer": 5.48229490959784e-06, + "track": 1.1882541457453044e-06, + "acceleration": 1.7672914509603288e-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": 6.718732038279995e-06, + "observation_loss": 6.570612640643958e-06, + "chamfer": 5.41265626452514e-06, + "track": 1.1579561487451429e-06, + "acceleration": 1.4811958237714862e-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": 6.456665232690284e-06, + "observation_loss": 6.298768312262837e-06, + "chamfer": 5.208461061556591e-06, + "track": 1.0903070233325707e-06, + "acceleration": 1.5789686358402832e-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": 6.319788099062862e-06, + "observation_loss": 6.178642706800019e-06, + "chamfer": 5.107723154651467e-06, + "track": 1.0709196658353903e-06, + "acceleration": 1.4114533541942365e-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": 6.581281922990456e-06, + "observation_loss": 6.4417076828249265e-06, + "chamfer": 5.294635684549576e-06, + "track": 1.1470721119621885e-06, + "acceleration": 1.3957433964151278e-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": 7.143260063458001e-06, + "observation_loss": 6.8663030106108636e-06, + "chamfer": 5.595214588538511e-06, + "track": 1.2710881946986774e-06, + "acceleration": 2.769569675820094e-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": 7.388477115455316e-06, + "observation_loss": 7.108743830031017e-06, + "chamfer": 5.7633669712231494e-06, + "track": 1.3453767451210297e-06, + "acceleration": 2.797332570025901e-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": 7.3702685767784715e-06, + "observation_loss": 7.181596629379783e-06, + "chamfer": 5.825138941872865e-06, + "track": 1.3564575738200801e-06, + "acceleration": 1.8867173423586792e-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": 7.47134208722855e-06, + "observation_loss": 7.058368282741867e-06, + "chamfer": 5.740817414334742e-06, + "track": 1.3175508684071247e-06, + "acceleration": 4.1297391817352036e-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": 7.118831945263082e-06, + "observation_loss": 6.8850922616547905e-06, + "chamfer": 5.617283477477031e-06, + "track": 1.267809011551435e-06, + "acceleration": 2.3373972624085582e-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": 6.84135966366739e-06, + "observation_loss": 6.769453193555819e-06, + "chamfer": 5.534238880500197e-06, + "track": 1.2352141993687837e-06, + "acceleration": 7.190644879528918e-08, + "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": 6.853533704997972e-06, + "observation_loss": 6.8004537752131e-06, + "chamfer": 5.563091235671891e-06, + "track": 1.2373627669148846e-06, + "acceleration": 5.3079972417435783e-08, + "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": 7.0078349381219596e-06, + "observation_loss": 6.930561539775226e-06, + "chamfer": 5.670224709319882e-06, + "track": 1.2603366030816687e-06, + "acceleration": 7.727343387387009e-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": 7.319500582525507e-06, + "observation_loss": 7.213245226012077e-06, + "chamfer": 5.8787386478798e-06, + "track": 1.3345064644454396e-06, + "acceleration": 1.0625545598941244e-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": 7.540737442468526e-06, + "observation_loss": 7.452087174897315e-06, + "chamfer": 6.057528025849024e-06, + "track": 1.3945591490482911e-06, + "acceleration": 8.865040257433066e-08, + "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": 7.942967386043165e-06, + "observation_loss": 7.800170351401903e-06, + "chamfer": 6.310575372481253e-06, + "track": 1.4895946378601366e-06, + "acceleration": 1.4279720517151873e-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": 8.13935275800759e-06, + "observation_loss": 8.088699360087048e-06, + "chamfer": 6.513057542179013e-06, + "track": 1.575642045281711e-06, + "acceleration": 5.0653813588041885e-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": 8.489956599078141e-06, + "observation_loss": 8.144403182086535e-06, + "chamfer": 6.555864729307359e-06, + "track": 1.5885381117186625e-06, + "acceleration": 3.4555296224425547e-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": 8.213181899918709e-06, + "observation_loss": 8.13056067272555e-06, + "chamfer": 6.564870091096964e-06, + "track": 1.565690240568074e-06, + "acceleration": 8.262102824119211e-08, + "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": 8.470571629004553e-06, + "observation_loss": 8.309688382723834e-06, + "chamfer": 6.697832759527955e-06, + "track": 1.6118555095090414e-06, + "acceleration": 1.6088367260636005e-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": 8.919162610254716e-06, + "observation_loss": 8.712141607247759e-06, + "chamfer": 6.980419584579067e-06, + "track": 1.731722136355529e-06, + "acceleration": 2.0702098879610276e-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": 9.163787581201177e-06, + "observation_loss": 9.028695785673335e-06, + "chamfer": 7.195581929408945e-06, + "track": 1.833114311011741e-06, + "acceleration": 1.3509209395579092e-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": 9.269694601243827e-06, + "observation_loss": 9.160848094325047e-06, + "chamfer": 7.269308753166115e-06, + "track": 1.8915394548457698e-06, + "acceleration": 1.0884693324442196e-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": 9.382104508404154e-06, + "observation_loss": 9.320126082457136e-06, + "chamfer": 7.369697414105758e-06, + "track": 1.9504286683513783e-06, + "acceleration": 6.197811330821423e-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": 9.42579390539322e-06, + "observation_loss": 9.341360055259429e-06, + "chamfer": 7.380675469903508e-06, + "track": 1.9606845853559207e-06, + "acceleration": 8.443421961601416e-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": 9.377205969940405e-06, + "observation_loss": 9.296947609982453e-06, + "chamfer": 7.348093731707195e-06, + "track": 1.9488543330226094e-06, + "acceleration": 8.02582178494049e-08, + "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": 9.428901648789179e-06, + "observation_loss": 9.23359129956225e-06, + "chamfer": 7.300643574126298e-06, + "track": 1.9329474980622763e-06, + "acceleration": 1.9531050554633111e-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": 9.640070857130922e-06, + "observation_loss": 9.512849828752223e-06, + "chamfer": 7.486036338377744e-06, + "track": 2.026813263000804e-06, + "acceleration": 1.272211420655367e-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": 1.0128506801265758e-05, + "observation_loss": 1.0046987881651148e-05, + "chamfer": 7.822575753380079e-06, + "track": 2.224412355644745e-06, + "acceleration": 8.151897645802819e-08, + "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": 1.0728459528763779e-05, + "observation_loss": 1.047960358846467e-05, + "chamfer": 8.109523150778841e-06, + "track": 2.3700808924331795e-06, + "acceleration": 2.488556276603049e-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": 1.0418088095320854e-05, + "observation_loss": 1.0297909284417983e-05, + "chamfer": 7.994157385837752e-06, + "track": 2.3037518985802308e-06, + "acceleration": 1.2017851247492217e-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": 1.0095828656631056e-05, + "observation_loss": 9.943784789356869e-06, + "chamfer": 7.773822289891541e-06, + "track": 2.1699624994653277e-06, + "acceleration": 1.5204378200905921e-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": 9.727183169161435e-06, + "observation_loss": 9.681883966550231e-06, + "chamfer": 7.5997172643837985e-06, + "track": 2.0821671569137834e-06, + "acceleration": 4.5299270112764134e-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": 9.50668709265301e-06, + "observation_loss": 9.447783668292686e-06, + "chamfer": 7.429419838445028e-06, + "track": 2.0183636024739826e-06, + "acceleration": 5.8903609101434995e-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": 9.508199582342058e-06, + "observation_loss": 9.44472321862122e-06, + "chamfer": 7.4158210736641195e-06, + "track": 2.028902144957101e-06, + "acceleration": 6.347651293481249e-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": 9.595620213076472e-06, + "observation_loss": 9.505616617389023e-06, + "chamfer": 7.450729299307568e-06, + "track": 2.0548875454551307e-06, + "acceleration": 9.000369516343198e-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": 9.552688425173983e-06, + "observation_loss": 9.490311640547588e-06, + "chamfer": 7.4337485784781165e-06, + "track": 2.0565628346957965e-06, + "acceleration": 6.237649330387285e-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": 9.628740372136235e-06, + "observation_loss": 9.500150554231368e-06, + "chamfer": 7.415494565066183e-06, + "track": 2.084656443912536e-06, + "acceleration": 1.2858946263349935e-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": 9.795315236260649e-06, + "observation_loss": 9.524655979475938e-06, + "chamfer": 7.426620868500322e-06, + "track": 2.0980351109756157e-06, + "acceleration": 2.7065917151958274e-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": 1.0163397746509872e-05, + "observation_loss": 9.594754374120384e-06, + "chamfer": 7.445737537636887e-06, + "track": 2.1490166091098217e-06, + "acceleration": 5.686431450158125e-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": 1.041242740029702e-05, + "observation_loss": 9.661347576184198e-06, + "chamfer": 7.484579327865504e-06, + "track": 2.1767682483186945e-06, + "acceleration": 7.510802220167534e-07, + "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": 1.0010176083596889e-05, + "observation_loss": 9.67047435551649e-06, + "chamfer": 7.4875015343423e-06, + "track": 2.182972593800514e-06, + "acceleration": 3.3970209756262193e-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": 9.90207900031237e-06, + "observation_loss": 9.789679097593762e-06, + "chamfer": 7.574875780846924e-06, + "track": 2.2148033167468384e-06, + "acceleration": 1.1240008035429128e-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": 1.0006171578424983e-05, + "observation_loss": 9.921694072545506e-06, + "chamfer": 7.659029506612569e-06, + "track": 2.262664111185586e-06, + "acceleration": 8.44778185182804e-08, + "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": 1.0197409210377373e-05, + "observation_loss": 1.0127442692464683e-05, + "chamfer": 7.785120033076964e-06, + "track": 2.3423228867613943e-06, + "acceleration": 6.996622659016793e-08, + "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": 1.0191011824645102e-05, + "observation_loss": 1.0127498171641491e-05, + "chamfer": 7.780112355249003e-06, + "track": 2.347385361645138e-06, + "acceleration": 6.351390169356819e-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": 1.0258979273203295e-05, + "observation_loss": 1.0093201126437634e-05, + "chamfer": 7.741413355688564e-06, + "track": 2.3517877707490698e-06, + "acceleration": 1.6577779149429261e-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": 1.0124664186150767e-05, + "observation_loss": 1.002927001536591e-05, + "chamfer": 7.656622074136976e-06, + "track": 2.3726479412289336e-06, + "acceleration": 9.539373735378831e-08, + "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": 1.0011225640482735e-05, + "observation_loss": 9.937805771187413e-06, + "chamfer": 7.568817636638414e-06, + "track": 2.368988361922675e-06, + "acceleration": 7.342004693100534e-08, + "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": 1.0017048225563485e-05, + "observation_loss": 9.804665751289576e-06, + "chamfer": 7.485184596589534e-06, + "track": 2.3194811547000427e-06, + "acceleration": 2.1238216163510515e-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": 1.0160194506170228e-05, + "observation_loss": 9.633248737372924e-06, + "chamfer": 7.3929668360506184e-06, + "track": 2.240281901322305e-06, + "acceleration": 5.269455982670479e-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": 9.882497579383198e-06, + "observation_loss": 9.59220778895542e-06, + "chamfer": 7.367515991063556e-06, + "track": 2.2246917978918646e-06, + "acceleration": 2.9028981884948735e-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": 9.789070645638276e-06, + "observation_loss": 9.599873010301962e-06, + "chamfer": 7.384510809060885e-06, + "track": 2.215362201241078e-06, + "acceleration": 1.8919747901691153e-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": 9.830561793933157e-06, + "observation_loss": 9.683891221357044e-06, + "chamfer": 7.447157713613706e-06, + "track": 2.236733507743338e-06, + "acceleration": 1.4667035941329232e-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": 9.873434464680031e-06, + "observation_loss": 9.811467862164136e-06, + "chamfer": 7.532122253905982e-06, + "track": 2.2793456082581542e-06, + "acceleration": 6.196633250965533e-08, + "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": 1.0002298040490132e-05, + "observation_loss": 9.969853635993786e-06, + "chamfer": 7.627545073773945e-06, + "track": 2.3423090169671923e-06, + "acceleration": 3.244440804905935e-08, + "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": 1.0141490747628268e-05, + "observation_loss": 1.0100561667059083e-05, + "chamfer": 7.680399903620128e-06, + "track": 2.4201619908126304e-06, + "acceleration": 4.092932925914283e-08, + "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": 1.0372302313044202e-05, + "observation_loss": 1.0270360689901281e-05, + "chamfer": 7.75710850575706e-06, + "track": 2.513251956770546e-06, + "acceleration": 1.0194187893830531e-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": 1.0839326932909898e-05, + "observation_loss": 1.0623417438182514e-05, + "chamfer": 7.933574124763254e-06, + "track": 2.6898430860455846e-06, + "acceleration": 2.159097647336239e-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": 1.1292208000668325e-05, + "observation_loss": 1.0998869584000204e-05, + "chamfer": 8.125940439640544e-06, + "track": 2.8729291443596594e-06, + "acceleration": 2.933383314029925e-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": 1.1483563866931945e-05, + "observation_loss": 1.1336998795741238e-05, + "chamfer": 8.311941201100126e-06, + "track": 3.0250578220147872e-06, + "acceleration": 1.4656552593805827e-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": 1.16098390208208e-05, + "observation_loss": 1.1520336556714028e-05, + "chamfer": 8.39927997731138e-06, + "track": 3.1210568067763234e-06, + "acceleration": 8.950220831138722e-08, + "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": 1.1959296898567118e-05, + "observation_loss": 1.1802148037531879e-05, + "chamfer": 8.571377293264959e-06, + "track": 3.23077074426692e-06, + "acceleration": 1.5714883261352952e-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": 1.2346114999672864e-05, + "observation_loss": 1.2146023436798714e-05, + "chamfer": 8.765379789110739e-06, + "track": 3.3806436476879753e-06, + "acceleration": 2.0009179024782497e-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": 1.2433904885256197e-05, + "observation_loss": 1.2366888768156059e-05, + "chamfer": 8.877708751242608e-06, + "track": 3.4891800169134513e-06, + "acceleration": 6.7016152627275e-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": 1.2557794434542302e-05, + "observation_loss": 1.247361706191441e-05, + "chamfer": 8.92726438905811e-06, + "track": 3.5463529002299765e-06, + "acceleration": 8.417698893481429e-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": 1.2613265425898135e-05, + "observation_loss": 1.2550159226520918e-05, + "chamfer": 8.971090210252441e-06, + "track": 3.579069016268477e-06, + "acceleration": 6.31061496392249e-08, + "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": 1.2628690456040204e-05, + "observation_loss": 1.2579224858200178e-05, + "chamfer": 8.964410881162621e-06, + "track": 3.6148139770375565e-06, + "acceleration": 4.9465175067098244e-08, + "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": 1.2644371963688172e-05, + "observation_loss": 1.2597922250279225e-05, + "chamfer": 8.950142728281207e-06, + "track": 3.647779067250667e-06, + "acceleration": 4.644971340894699e-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": 1.2704402251983993e-05, + "observation_loss": 1.2586966477101669e-05, + "chamfer": 8.95268294698326e-06, + "track": 3.6342830753710587e-06, + "acceleration": 1.1743589567458912e-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": 1.2662759218073916e-05, + "observation_loss": 1.2551251529657748e-05, + "chamfer": 8.933226126828231e-06, + "track": 3.6180254028295167e-06, + "acceleration": 1.115073189339455e-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": 1.2526211321528535e-05, + "observation_loss": 1.2513693036453333e-05, + "chamfer": 8.89959392225137e-06, + "track": 3.6140988868282875e-06, + "acceleration": 1.2517889835805818e-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": 1.2518797120719682e-05, + "observation_loss": 1.247019554284634e-05, + "chamfer": 8.861595233611297e-06, + "track": 3.6086000818613684e-06, + "acceleration": 4.860198998812848e-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": 1.252899437531596e-05, + "observation_loss": 1.2424095984897576e-05, + "chamfer": 8.823831194604281e-06, + "track": 3.6002645629196195e-06, + "acceleration": 1.0489845436723044e-07, + "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": 1.2427300134731922e-05, + "observation_loss": 1.2322957445576321e-05, + "chamfer": 8.77066941029625e-06, + "track": 3.5522878079063958e-06, + "acceleration": 1.0434255415248117e-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": 1.2164468898845371e-05, + "observation_loss": 1.2114499440940563e-05, + "chamfer": 8.65757556312019e-06, + "track": 3.456923650446697e-06, + "acceleration": 4.996938685053465e-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": 9.897383942340335e-06, + "chamfer_mean": 6.8380855206366204e-06, + "track_mean": 2.0062058627701163e-06, + "acceleration_mean": 1.053092554446448e-06, + "observation_score": 8.844291395841234e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.417035760001454 + }, + "score_arrays_file": "pass_scores/pass_end_0102.npz", + "score_arrays_sha256": "d9908396eb0881d095ac3cc513202327660d53c78c2695c4c22958e7a76421be" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0103.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0103.json new file mode 100644 index 0000000000000000000000000000000000000000..0a7d7b1d1b2e5e7bd5b2a15d0d7a64b105e096dc --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0103.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9888, + "completed_passes": 103, + "snapshot": "pass_end_0103", + "candidate": true, + "snapshot_arrays_sha256": "185000ca45cbdb9173e4bfa9b9a4be19578a32ed2375ad9df4997ce658f1ee27", + "score": 8.832966251759444e-06, + "score_result": { + "score": 8.832966251759444e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9972968604852213e-06, + 3.403347818675684e-06, + 3.934256255888613e-06, + 5.042960310674971e-06, + 5.99041686655255e-06, + 6.4878086050157435e-06, + 6.4699888753239065e-06, + 6.128541826910805e-06, + 5.885987775400281e-06, + 5.850177331012674e-06, + 6.097461664467119e-06, + 6.367670721374452e-06, + 6.64495610180893e-06, + 6.885713901283452e-06, + 7.025344075373141e-06, + 7.1950280471355654e-06, + 7.094601187418448e-06, + 6.799609764129855e-06, + 6.618015959247714e-06, + 6.609573574678507e-06, + 6.649011993431486e-06, + 6.548681085405406e-06, + 6.276436579355504e-06, + 6.156315521366196e-06, + 6.416818905563559e-06, + 6.83998996464652e-06, + 7.083460786816431e-06, + 7.158416792663047e-06, + 7.037219802441541e-06, + 6.865772320452379e-06, + 6.750709417246981e-06, + 6.783759090467356e-06, + 6.914736331964377e-06, + 7.198547791631427e-06, + 7.436935447913129e-06, + 7.785333764331881e-06, + 8.074657671386376e-06, + 8.131038157443982e-06, + 8.116351636999752e-06, + 8.292796337627806e-06, + 8.694600182934664e-06, + 9.012895134219434e-06, + 9.145165677182376e-06, + 9.303056685894262e-06, + 9.323926860815845e-06, + 9.279546247853432e-06, + 9.216466423822567e-06, + 9.49659624893684e-06, + 1.0033801117970143e-05, + 1.0467607353348285e-05, + 1.0285644748364575e-05, + 9.93169942375971e-06, + 9.669984137872234e-06, + 9.434173080080654e-06, + 9.429660167370457e-06, + 9.490442607784644e-06, + 9.475415936321951e-06, + 9.485911505180411e-06, + 9.510260497336276e-06, + 9.581836820871104e-06, + 9.649922503740527e-06, + 9.659494935476687e-06, + 9.781332664715592e-06, + 9.915877853927668e-06, + 1.0124083928531036e-05, + 1.0126619599759579e-05, + 1.0093606761074625e-05, + 1.003096258500591e-05, + 9.940842573996633e-06, + 9.807193237065803e-06, + 9.633615263737738e-06, + 9.59093540586764e-06, + 9.597531970939599e-06, + 9.679973118181806e-06, + 9.80658660409972e-06, + 9.963225238607265e-06, + 1.0092693628394045e-05, + 1.0262646355840843e-05, + 1.0617375664878637e-05, + 1.0993856449204031e-05, + 1.1332635949656833e-05, + 1.1516390259203035e-05, + 1.1795591490226798e-05, + 1.2139544196543284e-05, + 1.2362348570604809e-05, + 1.2469421562855132e-05, + 1.2545257959573064e-05, + 1.2574161701195408e-05, + 1.259285090782214e-05, + 1.2581145711010322e-05, + 1.2546001016744412e-05, + 1.250954665010795e-05, + 1.2466136467992328e-05, + 1.241978407051647e-05, + 1.2319328561716247e-05, + 1.2111800970160402e-05 + ] + ], + "episode_mean_losses": [ + 8.832966251759444e-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": 2.9972968604852213e-06, + "observation_loss": 2.9972968604852213e-06, + "chamfer": 2.5414381070731906e-06, + "track": 4.5585866814690235e-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": 4.7172718041110784e-05, + "observation_loss": 3.403347818675684e-06, + "chamfer": 2.8778019895980833e-06, + "track": 5.255457722341816e-07, + "acceleration": 4.376937067718245e-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": 2.8798171115340665e-05, + "observation_loss": 3.934256255888613e-06, + "chamfer": 3.3122453260148177e-06, + "track": 6.220109867172141e-07, + "acceleration": 2.4863915314199403e-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": 1.4048902812646702e-05, + "observation_loss": 5.042960310674971e-06, + "chamfer": 4.165840437053703e-06, + "track": 8.771198736212682e-07, + "acceleration": 9.005942956719082e-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": 1.0398395716038067e-05, + "observation_loss": 5.99041686655255e-06, + "chamfer": 4.8338683882320765e-06, + "track": 1.1565484783204738e-06, + "acceleration": 4.4079788494855165e-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": 8.059715582930949e-06, + "observation_loss": 6.4878086050157435e-06, + "chamfer": 5.1509573495422956e-06, + "track": 1.3368510280997725e-06, + "acceleration": 1.5719068642283673e-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": 8.49386469781166e-06, + "observation_loss": 6.4699888753239065e-06, + "chamfer": 5.115583007864188e-06, + "track": 1.3544058674597181e-06, + "acceleration": 2.023875822487753e-06, + "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": 7.399617516057333e-06, + "observation_loss": 6.128541826910805e-06, + "chamfer": 4.8748352128313854e-06, + "track": 1.253706841453095e-06, + "acceleration": 1.2710755754596903e-06, + "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": 6.73071781420731e-06, + "observation_loss": 5.885987775400281e-06, + "chamfer": 4.707808329840191e-06, + "track": 1.1781793318732525e-06, + "acceleration": 8.447300388070289e-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": 6.201554242579732e-06, + "observation_loss": 5.850177331012674e-06, + "chamfer": 4.702751084550982e-06, + "track": 1.147426360148529e-06, + "acceleration": 3.513769115670584e-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": 6.2343724493985064e-06, + "observation_loss": 6.097461664467119e-06, + "chamfer": 4.91800074087223e-06, + "track": 1.1794609235948883e-06, + "acceleration": 1.369110123050632e-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": 6.474387646449031e-06, + "observation_loss": 6.367670721374452e-06, + "chamfer": 5.140185294294497e-06, + "track": 1.2274851997062797e-06, + "acceleration": 1.0671693928543391e-07, + "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": 6.700998255837476e-06, + "observation_loss": 6.64495610180893e-06, + "chamfer": 5.377481556934072e-06, + "track": 1.2674745448748581e-06, + "acceleration": 5.604193376029798e-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": 6.977946213737596e-06, + "observation_loss": 6.885713901283452e-06, + "chamfer": 5.586344286712119e-06, + "track": 1.2993695008844952e-06, + "acceleration": 9.223220587273318e-08, + "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": 7.060204097797396e-06, + "observation_loss": 7.025344075373141e-06, + "chamfer": 5.7152906265400816e-06, + "track": 1.3100534488330595e-06, + "acceleration": 3.485992650098524e-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": 7.2793918661773205e-06, + "observation_loss": 7.1950280471355654e-06, + "chamfer": 5.862314537807833e-06, + "track": 1.3327132819540566e-06, + "acceleration": 8.436359166807961e-08, + "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": 7.26756206859136e-06, + "observation_loss": 7.094601187418448e-06, + "chamfer": 5.789129318145569e-06, + "track": 1.3054717555860407e-06, + "acceleration": 1.7296065379923675e-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": 7.025797003734624e-06, + "observation_loss": 6.799609764129855e-06, + "chamfer": 5.571254860115005e-06, + "track": 1.2283546766411746e-06, + "acceleration": 2.261871685504957e-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": 6.731722351105418e-06, + "observation_loss": 6.618015959247714e-06, + "chamfer": 5.442354904516833e-06, + "track": 1.1756611684177187e-06, + "acceleration": 1.1370634922514e-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": 6.7313080762687605e-06, + "observation_loss": 6.609573574678507e-06, + "chamfer": 5.438263997348258e-06, + "track": 1.1713095773302484e-06, + "acceleration": 1.2173454422281793e-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": 6.826911885582376e-06, + "observation_loss": 6.649011993431486e-06, + "chamfer": 5.466235052153934e-06, + "track": 1.1827769412775524e-06, + "acceleration": 1.7789966477721464e-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": 6.698785455228062e-06, + "observation_loss": 6.548681085405406e-06, + "chamfer": 5.39614347871975e-06, + "track": 1.1525376066856552e-06, + "acceleration": 1.5010425613581901e-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": 6.435243449232075e-06, + "observation_loss": 6.276436579355504e-06, + "chamfer": 5.191279797145398e-06, + "track": 1.085156782210106e-06, + "acceleration": 1.5880708303939173e-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": 6.2967387748358306e-06, + "observation_loss": 6.156315521366196e-06, + "chamfer": 5.0905491661978886e-06, + "track": 1.065766468855145e-06, + "acceleration": 1.4042319662621594e-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": 6.555968866450712e-06, + "observation_loss": 6.416818905563559e-06, + "chamfer": 5.275633611745434e-06, + "track": 1.1411851801312878e-06, + "acceleration": 1.3914984720031498e-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": 7.117111181287328e-06, + "observation_loss": 6.83998996464652e-06, + "chamfer": 5.575478553510038e-06, + "track": 1.264511411136482e-06, + "acceleration": 2.7712135874935484e-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": 7.364297744061332e-06, + "observation_loss": 7.083460786816431e-06, + "chamfer": 5.744378540839534e-06, + "track": 1.3390821322900592e-06, + "acceleration": 2.80837156196867e-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": 7.3481191975588445e-06, + "observation_loss": 7.158416792663047e-06, + "chamfer": 5.807696197734913e-06, + "track": 1.350720708614972e-06, + "acceleration": 1.897024333175068e-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": 7.451307283190545e-06, + "observation_loss": 7.037219802441541e-06, + "chamfer": 5.724654329242185e-06, + "track": 1.312565586886194e-06, + "acceleration": 4.1408736706216587e-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": 7.099553840816952e-06, + "observation_loss": 6.865772320452379e-06, + "chamfer": 5.602435521723237e-06, + "track": 1.2633367987291422e-06, + "acceleration": 2.337815061537185e-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": 6.823078820161754e-06, + "observation_loss": 6.750709417246981e-06, + "chamfer": 5.519738351722481e-06, + "track": 1.2309711792113376e-06, + "acceleration": 7.236948817990196e-08, + "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": 6.837840828666231e-06, + "observation_loss": 6.783759090467356e-06, + "chamfer": 5.550172318180557e-06, + "track": 1.2335867722867988e-06, + "acceleration": 5.408191583455846e-08, + "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": 6.992109319980955e-06, + "observation_loss": 6.914736331964377e-06, + "chamfer": 5.657921974489e-06, + "track": 1.256814584849053e-06, + "acceleration": 7.737288143516707e-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": 7.306040060939267e-06, + "observation_loss": 7.198547791631427e-06, + "chamfer": 5.86730402574176e-06, + "track": 1.3312436522028293e-06, + "acceleration": 1.0749235457296891e-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": 7.5258112701703794e-06, + "observation_loss": 7.436935447913129e-06, + "chamfer": 6.045874670235207e-06, + "track": 1.3910606639910839e-06, + "acceleration": 8.887570146498547e-08, + "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": 7.926524631329812e-06, + "observation_loss": 7.785333764331881e-06, + "chamfer": 6.299316282820655e-06, + "track": 1.4860177088849014e-06, + "acceleration": 1.4119046909399913e-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": 8.125040949380491e-06, + "observation_loss": 8.074657671386376e-06, + "chamfer": 6.502686574094696e-06, + "track": 1.5719712109785178e-06, + "acceleration": 5.038297246073853e-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": 8.476717994199134e-06, + "observation_loss": 8.131038157443982e-06, + "chamfer": 6.546245913341409e-06, + "track": 1.5847920167288976e-06, + "acceleration": 3.4567980833344336e-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": 8.200801858038176e-06, + "observation_loss": 8.116351636999752e-06, + "chamfer": 6.554842912009917e-06, + "track": 1.5615089523635106e-06, + "acceleration": 8.445001498103011e-08, + "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": 8.454906492261216e-06, + "observation_loss": 8.292796337627806e-06, + "chamfer": 6.6857032834377605e-06, + "track": 1.6070928268163698e-06, + "acceleration": 1.621104530613593e-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": 8.902356057660654e-06, + "observation_loss": 8.694600182934664e-06, + "chamfer": 6.968081379454816e-06, + "track": 1.7265190308535239e-06, + "acceleration": 2.0775617315393902e-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": 9.148480785370339e-06, + "observation_loss": 9.012895134219434e-06, + "chamfer": 7.1844897320261225e-06, + "track": 1.8284055158801493e-06, + "acceleration": 1.3558594957885362e-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": 9.252470590581652e-06, + "observation_loss": 9.145165677182376e-06, + "chamfer": 7.258274308696855e-06, + "track": 1.8868909137381706e-06, + "acceleration": 1.0730460786589902e-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": 9.364502147946041e-06, + "observation_loss": 9.303056685894262e-06, + "chamfer": 7.357744379987707e-06, + "track": 1.9453120785328792e-06, + "acceleration": 6.144549047348846e-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": 9.408319783688057e-06, + "observation_loss": 9.323926860815845e-06, + "chamfer": 7.368383194261696e-06, + "track": 1.955543439180474e-06, + "acceleration": 8.439322840558816e-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": 9.359937394037843e-06, + "observation_loss": 9.279546247853432e-06, + "chamfer": 7.335860573220998e-06, + "track": 1.943685674632434e-06, + "acceleration": 8.039143750693256e-08, + "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": 9.412622603122145e-06, + "observation_loss": 9.216466423822567e-06, + "chamfer": 7.288574579433771e-06, + "track": 1.927891844388796e-06, + "acceleration": 1.9615613666701393e-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": 9.624374797567725e-06, + "observation_loss": 9.49659624893684e-06, + "chamfer": 7.474453013855964e-06, + "track": 2.0221430077072e-06, + "acceleration": 1.277787475828518e-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": 1.01161140264594e-05, + "observation_loss": 1.0033801117970143e-05, + "chamfer": 7.813472620910034e-06, + "track": 2.220328497060109e-06, + "acceleration": 8.231317139006933e-08, + "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": 1.0717175427998882e-05, + "observation_loss": 1.0467607353348285e-05, + "chamfer": 8.101289495243691e-06, + "track": 2.366318312851945e-06, + "acceleration": 2.495679609637591e-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": 1.0406725778011605e-05, + "observation_loss": 1.0285644748364575e-05, + "chamfer": 7.985556294443086e-06, + "track": 2.3000889086688403e-06, + "acceleration": 1.2108078806249978e-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": 1.0084029781864956e-05, + "observation_loss": 9.93169942375971e-06, + "chamfer": 7.76537308411207e-06, + "track": 2.166326112273964e-06, + "acceleration": 1.5233052863550256e-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": 9.715185115055647e-06, + "observation_loss": 9.669984137872234e-06, + "chamfer": 7.591684152430389e-06, + "track": 2.078299530694494e-06, + "acceleration": 4.520121876794292e-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": 9.493185643805191e-06, + "observation_loss": 9.434173080080654e-06, + "chamfer": 7.420031124638626e-06, + "track": 2.0141421828157036e-06, + "acceleration": 5.9012837283489716e-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": 9.493076504440978e-06, + "observation_loss": 9.429660167370457e-06, + "chamfer": 7.405600172205595e-06, + "track": 2.0240602225385373e-06, + "acceleration": 6.341640812479454e-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": 9.580276127962861e-06, + "observation_loss": 9.490442607784644e-06, + "chamfer": 7.4405256782483775e-06, + "track": 2.0499164747889154e-06, + "acceleration": 8.983325017197785e-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": 9.537054211250506e-06, + "observation_loss": 9.475415936321951e-06, + "chamfer": 7.423876013490371e-06, + "track": 2.0515401502052555e-06, + "acceleration": 6.163851651308505e-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": 9.616043826099485e-06, + "observation_loss": 9.485911505180411e-06, + "chamfer": 7.4061040322703775e-06, + "track": 2.079807245536358e-06, + "acceleration": 1.3013260513616842e-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": 9.79019114311086e-06, + "observation_loss": 9.510260497336276e-06, + "chamfer": 7.417499546136241e-06, + "track": 2.0927609512000345e-06, + "acceleration": 2.799306741962937e-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": 1.0163806109630968e-05, + "observation_loss": 9.581836820871104e-06, + "chamfer": 7.43764894650667e-06, + "track": 2.144187874364434e-06, + "acceleration": 5.819694592901214e-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": 1.0412822120997589e-05, + "observation_loss": 9.649922503740527e-06, + "chamfer": 7.477514373022132e-06, + "track": 2.1724076759710442e-06, + "acceleration": 7.628995604136435e-07, + "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": 1.000662632577587e-05, + "observation_loss": 9.659494935476687e-06, + "chamfer": 7.480997737729922e-06, + "track": 2.178497197746765e-06, + "acceleration": 3.4713173135969555e-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": 9.895074072119314e-06, + "observation_loss": 9.781332664715592e-06, + "chamfer": 7.569903573312331e-06, + "track": 2.2114288640295854e-06, + "acceleration": 1.1374137898201298e-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": 1.0001192094932776e-05, + "observation_loss": 9.915877853927668e-06, + "chamfer": 7.655498848180287e-06, + "track": 2.260379233121057e-06, + "acceleration": 8.531383599574838e-08, + "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": 1.0193642992817331e-05, + "observation_loss": 1.0124083928531036e-05, + "chamfer": 7.782990905980114e-06, + "track": 2.3410927951772464e-06, + "acceleration": 6.955916376227833e-08, + "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": 1.0189336535404436e-05, + "observation_loss": 1.0126619599759579e-05, + "chamfer": 7.77955210651271e-06, + "track": 2.3470674932468683e-06, + "acceleration": 6.271714880767831e-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": 1.0259779628540855e-05, + "observation_loss": 1.0093606761074625e-05, + "chamfer": 7.741783520032186e-06, + "track": 2.3518234684161143e-06, + "acceleration": 1.6617326537016197e-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": 1.0126508641405962e-05, + "observation_loss": 1.003096258500591e-05, + "chamfer": 7.657718924747314e-06, + "track": 2.373243205511244e-06, + "acceleration": 9.554572955039475e-08, + "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": 1.0014091458288021e-05, + "observation_loss": 9.940842573996633e-06, + "chamfer": 7.570944944745861e-06, + "track": 2.369898083998123e-06, + "acceleration": 7.324914008677297e-08, + "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": 1.0020088666351512e-05, + "observation_loss": 9.807193237065803e-06, + "chamfer": 7.487043149012607e-06, + "track": 2.3201500880531967e-06, + "acceleration": 2.1289572771365783e-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": 1.0161894351767842e-05, + "observation_loss": 9.633615263737738e-06, + "chamfer": 7.393203304673079e-06, + "track": 2.2404119590646587e-06, + "acceleration": 5.282792017169413e-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": 9.883403436106164e-06, + "observation_loss": 9.59093540586764e-06, + "chamfer": 7.366532372543588e-06, + "track": 2.2244030333240516e-06, + "acceleration": 2.924683144556184e-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": 9.784002941159997e-06, + "observation_loss": 9.597531970939599e-06, + "chamfer": 7.3826090556394774e-06, + "track": 2.214922687926446e-06, + "acceleration": 1.8647102706381702e-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": 9.814082659431733e-06, + "observation_loss": 9.679973118181806e-06, + "chamfer": 7.444324182870332e-06, + "track": 2.235648935311474e-06, + "acceleration": 1.3410962651505542e-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": 9.865527317742817e-06, + "observation_loss": 9.80658660409972e-06, + "chamfer": 7.5288712650944944e-06, + "track": 2.277715793752577e-06, + "acceleration": 5.8940813119079394e-08, + "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": 9.99596704787109e-06, + "observation_loss": 9.963225238607265e-06, + "chamfer": 7.623347300977912e-06, + "track": 2.3398781650030287e-06, + "acceleration": 3.2741610311859404e-08, + "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": 1.013461769616697e-05, + "observation_loss": 1.0092693628394045e-05, + "chamfer": 7.675396773265675e-06, + "track": 2.4172968551283702e-06, + "acceleration": 4.192374092326645e-08, + "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": 1.0365984053350985e-05, + "observation_loss": 1.0262646355840843e-05, + "chamfer": 7.752336387056857e-06, + "track": 2.510309968783986e-06, + "acceleration": 1.0333785382954375e-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": 1.082219932868611e-05, + "observation_loss": 1.0617375664878637e-05, + "chamfer": 7.93000162957469e-06, + "track": 2.687374262677622e-06, + "acceleration": 2.0482353590978164e-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": 1.1261991858191323e-05, + "observation_loss": 1.0993856449204031e-05, + "chamfer": 8.122767212626059e-06, + "track": 2.8710892365779728e-06, + "acceleration": 2.6813566478267603e-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": 1.1472094229247887e-05, + "observation_loss": 1.1332635949656833e-05, + "chamfer": 8.309207260026596e-06, + "track": 3.0234286896302365e-06, + "acceleration": 1.3945866328413103e-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": 1.1604260180320125e-05, + "observation_loss": 1.1516390259203035e-05, + "chamfer": 8.396911653107964e-06, + "track": 3.119478606095072e-06, + "acceleration": 8.786958716200388e-08, + "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": 1.1957575225096662e-05, + "observation_loss": 1.1795591490226798e-05, + "chamfer": 8.567468285036739e-06, + "track": 3.2281234325637342e-06, + "acceleration": 1.6198377750242798e-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": 1.2340854482317809e-05, + "observation_loss": 1.2139544196543284e-05, + "chamfer": 8.761940080148634e-06, + "track": 3.3776038890209747e-06, + "acceleration": 2.013100441899951e-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": 1.2430760762072168e-05, + "observation_loss": 1.2362348570604809e-05, + "chamfer": 8.875635103322566e-06, + "track": 3.486713012534892e-06, + "acceleration": 6.841239041932567e-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": 1.255385359399952e-05, + "observation_loss": 1.2469421562855132e-05, + "chamfer": 8.925430847739335e-06, + "track": 3.5439904877421213e-06, + "acceleration": 8.443223720178139e-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": 1.2609026271093171e-05, + "observation_loss": 1.2545257959573064e-05, + "chamfer": 8.968836482381448e-06, + "track": 3.5764217045652913e-06, + "acceleration": 6.376792072160242e-08, + "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": 1.2624326700461097e-05, + "observation_loss": 1.2574161701195408e-05, + "chamfer": 8.961928870121483e-06, + "track": 3.6122330584476003e-06, + "acceleration": 5.0164882026138e-08, + "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": 1.2641095054277685e-05, + "observation_loss": 1.259285090782214e-05, + "chamfer": 8.947732567321509e-06, + "track": 3.645118567874306e-06, + "acceleration": 4.824373078804456e-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": 1.2699412764050066e-05, + "observation_loss": 1.2581145711010322e-05, + "chamfer": 8.949761650001165e-06, + "track": 3.631384288382833e-06, + "acceleration": 1.1826684698235113e-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": 1.2657668776228093e-05, + "observation_loss": 1.2546001016744412e-05, + "chamfer": 8.930474905355368e-06, + "track": 3.6155261113890447e-06, + "acceleration": 1.1166775948368013e-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": 1.2522122233349364e-05, + "observation_loss": 1.250954665010795e-05, + "chamfer": 8.89734747033799e-06, + "track": 3.612198952396284e-06, + "acceleration": 1.2575702257322519e-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": 1.2514699847088195e-05, + "observation_loss": 1.2466136467992328e-05, + "chamfer": 8.859496119839605e-06, + "track": 3.606640348152723e-06, + "acceleration": 4.856356738969225e-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": 1.2525004422059283e-05, + "observation_loss": 1.241978407051647e-05, + "chamfer": 8.821503797662444e-06, + "track": 3.598280045480351e-06, + "acceleration": 1.0522018101255526e-07, + "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": 1.242450343852397e-05, + "observation_loss": 1.2319328561716247e-05, + "chamfer": 8.768801308178809e-06, + "track": 3.5505270261637634e-06, + "acceleration": 1.0517462811776568e-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": 1.2161997801740654e-05, + "observation_loss": 1.2111800970160402e-05, + "chamfer": 8.656116733618546e-06, + "track": 3.455684236541856e-06, + "acceleration": 5.019649407245197e-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": 9.883141366628934e-06, + "chamfer_mean": 6.830150968066088e-06, + "track_mean": 2.002815269778561e-06, + "acceleration_mean": 1.0501751347609851e-06, + "observation_score": 8.832966251759444e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4157700319992728 + }, + "score_arrays_file": "pass_scores/pass_end_0103.npz", + "score_arrays_sha256": "10854338a0b1bc824a817aee465586aedc0ebd5405d7d5d921b1fcca8d9fea8f" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0104.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0104.json new file mode 100644 index 0000000000000000000000000000000000000000..484bd5ba895baee026d9f0ad6fcf3a068e678109 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0104.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 9984, + "completed_passes": 104, + "snapshot": "pass_end_0104", + "candidate": true, + "snapshot_arrays_sha256": "f5d1eacf31893f2dcfe4398bae4a26c4cd865f68dd603aec472273c9663b3868", + "score": 8.82235053486132e-06, + "score_result": { + "score": 8.82235053486132e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9953953344374895e-06, + 3.4012916785286507e-06, + 3.9283181649807375e-06, + 5.031177806813503e-06, + 5.976288321107859e-06, + 6.473898793046828e-06, + 6.463807039835956e-06, + 6.127871074568247e-06, + 5.883994163013995e-06, + 5.843513918080134e-06, + 6.085424502089154e-06, + 6.352061063807923e-06, + 6.6280149439990055e-06, + 6.867805950605543e-06, + 7.0064411374914926e-06, + 7.174446182034444e-06, + 7.0733781285525765e-06, + 6.779413524782285e-06, + 6.597065294045024e-06, + 6.5887029450095724e-06, + 6.626406957366271e-06, + 6.525745902763447e-06, + 6.253756964724744e-06, + 6.134342129371362e-06, + 6.392035629687598e-06, + 6.813315849285573e-06, + 7.05837510395213e-06, + 7.136424756026827e-06, + 7.017307325440925e-06, + 6.847616987215588e-06, + 6.73339036438847e-06, + 6.76870467941626e-06, + 6.899269465066027e-06, + 7.182880835898686e-06, + 7.422089765896089e-06, + 7.770848242216744e-06, + 8.061551852733828e-06, + 8.118578080029693e-06, + 8.102748324745335e-06, + 8.276540938823018e-06, + 8.67726885189768e-06, + 8.996164979180321e-06, + 9.128289093496278e-06, + 9.285337910114322e-06, + 9.30571331991814e-06, + 9.26156008063117e-06, + 9.199204214382917e-06, + 9.479845175519586e-06, + 1.0018886314355768e-05, + 1.0453561117174104e-05, + 1.0272074177919421e-05, + 9.919265721691772e-06, + 9.65829076449154e-06, + 9.421804861631244e-06, + 9.41634971241001e-06, + 9.477310413785744e-06, + 9.463050446356647e-06, + 9.473842510487884e-06, + 9.498731742496602e-06, + 9.570634574629366e-06, + 9.639690688345581e-06, + 9.649146704759914e-06, + 9.771748409548309e-06, + 9.90864555205917e-06, + 1.0119213584403042e-05, + 1.0123984793608543e-05, + 1.0092739103129134e-05, + 1.0030968951468822e-05, + 9.942465112544596e-06, + 9.80906952463556e-06, + 9.634663911128882e-06, + 9.591926755092572e-06, + 9.597323696652893e-06, + 9.678553396952339e-06, + 9.804625733522698e-06, + 9.960261195374187e-06, + 1.008902290777769e-05, + 1.0258743714075536e-05, + 1.061533566826256e-05, + 1.0993087016686331e-05, + 1.1331835594319273e-05, + 1.1515288861119188e-05, + 1.1792465556936804e-05, + 1.2136415534769185e-05, + 1.2359847460174933e-05, + 1.2467157830542419e-05, + 1.2542333934106864e-05, + 1.257077747141011e-05, + 1.2589467587531544e-05, + 1.2577381312439684e-05, + 1.2542296644824091e-05, + 1.2506175153248478e-05, + 1.246252122655278e-05, + 1.2416396202752367e-05, + 1.2316548236412928e-05, + 1.2110100215068087e-05 + ] + ], + "episode_mean_losses": [ + 8.82235053486132e-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": 2.9953953344374895e-06, + "observation_loss": 2.9953953344374895e-06, + "chamfer": 2.5398555862921057e-06, + "track": 4.555396913019649e-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": 4.707128755399026e-05, + "observation_loss": 3.4012916785286507e-06, + "chamfer": 2.8761035082425224e-06, + "track": 5.251881134427094e-07, + "acceleration": 4.3669995648087934e-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": 2.8701908377115615e-05, + "observation_loss": 3.9283181649807375e-06, + "chamfer": 3.307490032966598e-06, + "track": 6.208282457009773e-07, + "acceleration": 2.4773589757387526e-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": 1.3994907931191847e-05, + "observation_loss": 5.031177806813503e-06, + "chamfer": 4.157080638833577e-06, + "track": 8.74097111136507e-07, + "acceleration": 8.963730579125695e-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": 1.038239679473918e-05, + "observation_loss": 5.976288321107859e-06, + "chamfer": 4.82452333017136e-06, + "track": 1.1517648772496614e-06, + "acceleration": 4.406108928378671e-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": 8.0460968092666e-06, + "observation_loss": 6.473898793046828e-06, + "chamfer": 5.141919700690778e-06, + "track": 1.3319789786692127e-06, + "acceleration": 1.5721980162197724e-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": 8.45451359055005e-06, + "observation_loss": 6.463807039835956e-06, + "chamfer": 5.1115612222929485e-06, + "track": 1.3522460449166829e-06, + "acceleration": 1.990707005461445e-06, + "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": 7.351110070885625e-06, + "observation_loss": 6.127871074568247e-06, + "chamfer": 4.874135356658371e-06, + "track": 1.2537356042230385e-06, + "acceleration": 1.2232392236910528e-06, + "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": 6.70682811687584e-06, + "observation_loss": 5.883994163013995e-06, + "chamfer": 4.706350409833249e-06, + "track": 1.177643753180746e-06, + "acceleration": 8.228340107052645e-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": 6.184811809362145e-06, + "observation_loss": 5.843513918080134e-06, + "chamfer": 4.698239990830189e-06, + "track": 1.145273813563108e-06, + "acceleration": 3.412976923300448e-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": 6.219670922291698e-06, + "observation_loss": 6.085424502089154e-06, + "chamfer": 4.910010829917155e-06, + "track": 1.175413558485161e-06, + "acceleration": 1.3424620703972323e-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": 6.458030384237645e-06, + "observation_loss": 6.352061063807923e-06, + "chamfer": 5.129738838149933e-06, + "track": 1.2223222256579902e-06, + "acceleration": 1.0596928490258506e-07, + "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": 6.686014785373118e-06, + "observation_loss": 6.6280149439990055e-06, + "chamfer": 5.366198820411228e-06, + "track": 1.2618162372746156e-06, + "acceleration": 5.799984492682597e-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": 6.961487088119611e-06, + "observation_loss": 6.867805950605543e-06, + "chamfer": 5.574224815063644e-06, + "track": 1.2935810218550614e-06, + "acceleration": 9.368120146291403e-08, + "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": 7.042538527457509e-06, + "observation_loss": 7.0064411374914926e-06, + "chamfer": 5.701979716832284e-06, + "track": 1.3044614206592087e-06, + "acceleration": 3.6097180355909586e-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": 7.259983249241486e-06, + "observation_loss": 7.174446182034444e-06, + "chamfer": 5.84744111620239e-06, + "track": 1.3270049521452165e-06, + "acceleration": 8.553688246593083e-08, + "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": 7.2472853389626835e-06, + "observation_loss": 7.0733781285525765e-06, + "chamfer": 5.773423708888004e-06, + "track": 1.2999545333514106e-06, + "acceleration": 1.739073809403635e-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": 7.006476153037511e-06, + "observation_loss": 6.779413524782285e-06, + "chamfer": 5.5561836234119255e-06, + "track": 1.2232296739966841e-06, + "acceleration": 2.2706282720719173e-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": 6.7121227402822115e-06, + "observation_loss": 6.597065294045024e-06, + "chamfer": 5.426432835520245e-06, + "track": 1.1706324585247785e-06, + "acceleration": 1.150575030806067e-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": 6.712481535942061e-06, + "observation_loss": 6.5887029450095724e-06, + "chamfer": 5.422501544671832e-06, + "track": 1.1662014003377408e-06, + "acceleration": 1.2377842040223186e-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": 6.805519205954624e-06, + "observation_loss": 6.626406957366271e-06, + "chamfer": 5.4493416428158525e-06, + "track": 1.1770652008635807e-06, + "acceleration": 1.791120638472421e-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": 6.677773853880353e-06, + "observation_loss": 6.525745902763447e-06, + "chamfer": 5.378841706260573e-06, + "track": 1.1469041965028737e-06, + "acceleration": 1.5202813585801778e-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": 6.413652045011986e-06, + "observation_loss": 6.253756964724744e-06, + "chamfer": 5.173806130187586e-06, + "track": 1.07995072085032e-06, + "acceleration": 1.5989520818493475e-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": 6.274286079133162e-06, + "observation_loss": 6.134342129371362e-06, + "chamfer": 5.073628472018754e-06, + "track": 1.06071354366577e-06, + "acceleration": 1.3994394976180047e-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": 6.531420240207808e-06, + "observation_loss": 6.392035629687598e-06, + "chamfer": 5.2566897466022056e-06, + "track": 1.1353457693985547e-06, + "acceleration": 1.393844115682441e-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": 7.090767212503124e-06, + "observation_loss": 6.813315849285573e-06, + "chamfer": 5.555419647862436e-06, + "track": 1.2578960877362988e-06, + "acceleration": 2.774513063741324e-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": 7.3402165980951395e-06, + "observation_loss": 7.05837510395213e-06, + "chamfer": 5.7255288083979394e-06, + "track": 1.3328464092410286e-06, + "acceleration": 2.8184146572129976e-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": 7.326831109821796e-06, + "observation_loss": 7.136424756026827e-06, + "chamfer": 5.791110652353382e-06, + "track": 1.3453139899866073e-06, + "acceleration": 1.904065243252262e-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": 7.431551694025984e-06, + "observation_loss": 7.017307325440925e-06, + "chamfer": 5.7094671319646295e-06, + "track": 1.3078404208499705e-06, + "acceleration": 4.1424448227189714e-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": 7.081114290485857e-06, + "observation_loss": 6.847616987215588e-06, + "chamfer": 5.588496151176514e-06, + "track": 1.2591208360390738e-06, + "acceleration": 2.334972322159956e-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": 6.8056347117817495e-06, + "observation_loss": 6.73339036438847e-06, + "chamfer": 5.506346042238874e-06, + "track": 1.2270445495232707e-06, + "acceleration": 7.224434028785254e-08, + "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": 6.823589046689449e-06, + "observation_loss": 6.76870467941626e-06, + "chamfer": 5.538573532248847e-06, + "track": 1.2301310334805748e-06, + "acceleration": 5.4884523592590995e-08, + "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": 6.97700443197391e-06, + "observation_loss": 6.899269465066027e-06, + "chamfer": 5.64588754059514e-06, + "track": 1.2533816970972111e-06, + "acceleration": 7.773516585984908e-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": 7.292450845852727e-06, + "observation_loss": 7.182880835898686e-06, + "chamfer": 5.855083145434037e-06, + "track": 1.327797804151487e-06, + "acceleration": 1.0956995311062201e-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": 7.510681825806387e-06, + "observation_loss": 7.422089765896089e-06, + "chamfer": 6.034480065864045e-06, + "track": 1.3876097000320442e-06, + "acceleration": 8.859222333512662e-08, + "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": 7.910884960438125e-06, + "observation_loss": 7.770848242216744e-06, + "chamfer": 6.288334589044098e-06, + "track": 1.4825134257989703e-06, + "acceleration": 1.4003646242599643e-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": 8.111553142953198e-06, + "observation_loss": 8.061551852733828e-06, + "chamfer": 6.492975899163866e-06, + "track": 1.5685756125094485e-06, + "acceleration": 5.000113389996841e-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": 8.46425518830074e-06, + "observation_loss": 8.118578080029693e-06, + "chamfer": 6.537271019624313e-06, + "track": 1.5813070604053792e-06, + "acceleration": 3.456773356447229e-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": 8.189536856662016e-06, + "observation_loss": 8.102748324745335e-06, + "chamfer": 6.545207270391984e-06, + "track": 1.5575407132928376e-06, + "acceleration": 8.678823348873266e-08, + "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": 8.440463716397062e-06, + "observation_loss": 8.276540938823018e-06, + "chamfer": 6.6740199144987855e-06, + "track": 1.6025206832637195e-06, + "acceleration": 1.6392300494771916e-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": 8.885665010893717e-06, + "observation_loss": 8.67726885189768e-06, + "chamfer": 6.955822755116969e-06, + "track": 1.7214463241543854e-06, + "acceleration": 2.0839570424868725e-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": 9.132681952905841e-06, + "observation_loss": 8.996164979180321e-06, + "chamfer": 7.172717687353725e-06, + "track": 1.8234471781397588e-06, + "acceleration": 1.365166184541522e-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": 9.235040124622174e-06, + "observation_loss": 9.128289093496278e-06, + "chamfer": 7.246389941428788e-06, + "track": 1.88189915206749e-06, + "acceleration": 1.0675103112589568e-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": 9.345978469355032e-06, + "observation_loss": 9.285337910114322e-06, + "chamfer": 7.345299763983348e-06, + "track": 1.940038373504649e-06, + "acceleration": 6.064039581588077e-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": 9.389841579832137e-06, + "observation_loss": 9.30571331991814e-06, + "chamfer": 7.355472462222679e-06, + "track": 1.950240857695462e-06, + "acceleration": 8.412813201630343e-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": 9.341999430034775e-06, + "observation_loss": 9.26156008063117e-06, + "chamfer": 7.323186309804441e-06, + "track": 1.9383735434530536e-06, + "acceleration": 8.04396620424086e-08, + "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": 9.39625533646904e-06, + "observation_loss": 9.199204214382917e-06, + "chamfer": 7.276417363755172e-06, + "track": 1.9227868506277446e-06, + "acceleration": 1.9705110787526792e-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": 9.607948413759004e-06, + "observation_loss": 9.479845175519586e-06, + "chamfer": 7.462568191840546e-06, + "track": 2.017277211052715e-06, + "acceleration": 1.2810309613087156e-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": 1.0101795851369388e-05, + "observation_loss": 1.0018886314355768e-05, + "chamfer": 7.803193511790596e-06, + "track": 2.2156928025651723e-06, + "acceleration": 8.290942332678242e-08, + "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": 1.0703703992476221e-05, + "observation_loss": 1.0453561117174104e-05, + "chamfer": 8.09167522675125e-06, + "track": 2.36188611779653e-06, + "acceleration": 2.5014327320604934e-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": 1.0393832781119272e-05, + "observation_loss": 1.0272074177919421e-05, + "chamfer": 7.97616576164728e-06, + "track": 2.2959086436458165e-06, + "acceleration": 1.217589158386545e-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": 1.0072223631141242e-05, + "observation_loss": 9.919265721691772e-06, + "chamfer": 7.756792911095545e-06, + "track": 2.162472583222552e-06, + "acceleration": 1.529582789316919e-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": 9.703688192530535e-06, + "observation_loss": 9.65829076449154e-06, + "chamfer": 7.583791102661053e-06, + "track": 2.0744996618304867e-06, + "acceleration": 4.5397012371495293e-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": 9.480384505877737e-06, + "observation_loss": 9.421804861631244e-06, + "chamfer": 7.411504157062154e-06, + "track": 2.01030070456909e-06, + "acceleration": 5.8579203709996364e-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": 9.479468644713052e-06, + "observation_loss": 9.41634971241001e-06, + "chamfer": 7.396545697702095e-06, + "track": 2.01980378733424e-06, + "acceleration": 6.311926625812703e-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": 9.566596418153495e-06, + "observation_loss": 9.477310413785744e-06, + "chamfer": 7.431689482473303e-06, + "track": 2.0456211586861173e-06, + "acceleration": 8.928606831659636e-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": 9.524142114969436e-06, + "observation_loss": 9.463050446356647e-06, + "chamfer": 7.415644176944625e-06, + "track": 2.047406724159373e-06, + "acceleration": 6.109188888103745e-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": 9.605810191715136e-06, + "observation_loss": 9.473842510487884e-06, + "chamfer": 7.398286925308639e-06, + "track": 2.0755553578055697e-06, + "acceleration": 1.319680791311839e-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": 9.783022505871486e-06, + "observation_loss": 9.498731742496602e-06, + "chamfer": 7.4102413236687426e-06, + "track": 2.0884901914541842e-06, + "acceleration": 2.8429045073607995e-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": 1.0159325938730035e-05, + "observation_loss": 9.570634574629366e-06, + "chamfer": 7.430641289829509e-06, + "track": 2.1399930574261816e-06, + "acceleration": 5.886917620046006e-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": 1.0411503353680018e-05, + "observation_loss": 9.639690688345581e-06, + "chamfer": 7.471201570297126e-06, + "track": 2.1684891180484556e-06, + "acceleration": 7.718128358646936e-07, + "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": 9.999776011682115e-06, + "observation_loss": 9.649146704759914e-06, + "chamfer": 7.474847734556533e-06, + "track": 2.174298970203381e-06, + "acceleration": 3.506290795485256e-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": 9.884864084597211e-06, + "observation_loss": 9.771748409548309e-06, + "chamfer": 7.564023690065369e-06, + "track": 2.2077244921092642e-06, + "acceleration": 1.1311528425039796e-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": 9.993821549869608e-06, + "observation_loss": 9.90864555205917e-06, + "chamfer": 7.650967745576054e-06, + "track": 2.2576780338567914e-06, + "acceleration": 8.517601912672035e-08, + "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": 1.0188056876359042e-05, + "observation_loss": 1.0119213584403042e-05, + "chamfer": 7.779889529047068e-06, + "track": 2.339323827982298e-06, + "acceleration": 6.884332748313682e-08, + "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": 1.0185895007452928e-05, + "observation_loss": 1.0123984793608543e-05, + "chamfer": 7.777835890010465e-06, + "track": 2.346149130971753e-06, + "acceleration": 6.191061174831702e-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": 1.0259764167130925e-05, + "observation_loss": 1.0092739103129134e-05, + "chamfer": 7.741227818769403e-06, + "track": 2.3515112843597308e-06, + "acceleration": 1.67024623465295e-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": 1.0126973393198568e-05, + "observation_loss": 1.0030968951468822e-05, + "chamfer": 7.657683454453945e-06, + "track": 2.3732854970148765e-06, + "acceleration": 9.600447015145619e-08, + "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": 1.0015929547080304e-05, + "observation_loss": 9.942465112544596e-06, + "chamfer": 7.572032700409181e-06, + "track": 2.3704328668827657e-06, + "acceleration": 7.346434216515263e-08, + "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": 1.002266799332574e-05, + "observation_loss": 9.80906952463556e-06, + "chamfer": 7.488330084015615e-06, + "track": 2.3207389858725946e-06, + "acceleration": 2.1359859658787173e-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": 1.016552050714381e-05, + "observation_loss": 9.634663911128882e-06, + "chamfer": 7.393884970952058e-06, + "track": 2.2407791675504996e-06, + "acceleration": 5.308565960149281e-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": 9.886276529869065e-06, + "observation_loss": 9.591926755092572e-06, + "chamfer": 7.367139915004373e-06, + "track": 2.2247866127145244e-06, + "acceleration": 2.9434957582452626e-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": 9.782572305994108e-06, + "observation_loss": 9.597323696652893e-06, + "chamfer": 7.382193416560767e-06, + "track": 2.2151302800921258e-06, + "acceleration": 1.8524880829318136e-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": 9.80658114713151e-06, + "observation_loss": 9.678553396952339e-06, + "chamfer": 7.443147751473589e-06, + "track": 2.235405418105074e-06, + "acceleration": 1.2802782123344514e-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": 9.861858416115865e-06, + "observation_loss": 9.804625733522698e-06, + "chamfer": 7.527640264015645e-06, + "track": 2.276985696880729e-06, + "acceleration": 5.723278917457719e-08, + "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": 9.99327403405914e-06, + "observation_loss": 9.960261195374187e-06, + "chamfer": 7.62166882850579e-06, + "track": 2.3385925942420727e-06, + "acceleration": 3.3012671707410846e-08, + "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": 1.0131987437489443e-05, + "observation_loss": 1.008902290777769e-05, + "chamfer": 7.673195796087384e-06, + "track": 2.415827111690305e-06, + "acceleration": 4.2964163782244214e-08, + "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": 1.0362783541495446e-05, + "observation_loss": 1.0258743714075536e-05, + "chamfer": 7.750035365461372e-06, + "track": 2.508708575987839e-06, + "acceleration": 1.0403938688341441e-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": 1.0864086107176263e-05, + "observation_loss": 1.061533566826256e-05, + "chamfer": 7.928923878353089e-06, + "track": 2.6864115625357954e-06, + "acceleration": 2.4875023996173695e-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": 1.1461363101261668e-05, + "observation_loss": 1.0993087016686331e-05, + "chamfer": 8.122353392536752e-06, + "track": 2.870733396775904e-06, + "acceleration": 4.68276255105593e-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": 1.15209886644152e-05, + "observation_loss": 1.1331835594319273e-05, + "chamfer": 8.308774340548553e-06, + "track": 3.0230614811443957e-06, + "acceleration": 1.8915318378276424e-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": 1.1602729500737041e-05, + "observation_loss": 1.1515288861119188e-05, + "chamfer": 8.396295925194863e-06, + "track": 3.1189927085506497e-06, + "acceleration": 8.744039092789535e-08, + "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": 1.1957777132920455e-05, + "observation_loss": 1.1792465556936804e-05, + "chamfer": 8.565721145714633e-06, + "track": 3.2267441838484956e-06, + "acceleration": 1.6531147650766798e-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": 1.233870079886401e-05, + "observation_loss": 1.2136415534769185e-05, + "chamfer": 8.760575838095974e-06, + "track": 3.37583924192586e-06, + "acceleration": 2.0228553410106542e-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": 1.2428693480615038e-05, + "observation_loss": 1.2359847460174933e-05, + "chamfer": 8.874825653037988e-06, + "track": 3.4850222618842963e-06, + "acceleration": 6.884630465719965e-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": 1.2551357940537855e-05, + "observation_loss": 1.2467157830542419e-05, + "chamfer": 8.92491516424343e-06, + "track": 3.542242666298989e-06, + "acceleration": 8.420012420629064e-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": 1.2606583368324209e-05, + "observation_loss": 1.2542333934106864e-05, + "chamfer": 8.967886969912797e-06, + "track": 3.5744474189414177e-06, + "acceleration": 6.424910736768652e-08, + "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": 1.2621689165825956e-05, + "observation_loss": 1.257077747141011e-05, + "chamfer": 8.960602826846298e-06, + "track": 3.610174189816462e-06, + "acceleration": 5.0911673099562904e-08, + "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": 1.2638448424695525e-05, + "observation_loss": 1.2589467587531544e-05, + "chamfer": 8.946350135374814e-06, + "track": 3.643116997409379e-06, + "acceleration": 4.898074124071172e-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": 1.269754739041673e-05, + "observation_loss": 1.2577381312439684e-05, + "chamfer": 8.948185495682992e-06, + "track": 3.6291955893830163e-06, + "acceleration": 1.2016606376619166e-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": 1.2655945283768233e-05, + "observation_loss": 1.2542296644824091e-05, + "chamfer": 8.92877324076835e-06, + "track": 3.6135231766820652e-06, + "acceleration": 1.136486176278595e-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": 1.2518954463303089e-05, + "observation_loss": 1.2506175153248478e-05, + "chamfer": 8.895594874047674e-06, + "track": 3.610580506574479e-06, + "acceleration": 1.2779594271705719e-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": 1.251129560841946e-05, + "observation_loss": 1.246252122655278e-05, + "chamfer": 8.857772627379745e-06, + "track": 3.6047485991730355e-06, + "acceleration": 4.877399106817393e-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": 1.2522064935183153e-05, + "observation_loss": 1.2416396202752367e-05, + "chamfer": 8.819928552838974e-06, + "track": 3.5964674225397175e-06, + "acceleration": 1.0566917296728207e-07, + "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": 1.2422351574059576e-05, + "observation_loss": 1.2316548236412928e-05, + "chamfer": 8.76754529599566e-06, + "track": 3.5490029404172674e-06, + "acceleration": 1.0580302500784455e-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": 1.2160045116615947e-05, + "observation_loss": 1.2110100215068087e-05, + "chamfer": 8.655401870782953e-06, + "track": 3.4546981169114588e-06, + "acceleration": 4.9944723912176414e-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": 9.872548616840504e-06, + "chamfer_mean": 6.822680463850854e-06, + "track_mean": 1.9996700372596856e-06, + "acceleration_mean": 1.0501980765020846e-06, + "observation_score": 8.82235053486132e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.439927235000141 + }, + "score_arrays_file": "pass_scores/pass_end_0104.npz", + "score_arrays_sha256": "9c3707f9f36b47ad4e0c17500027342f9bc8606069f01526b01bf215386d1216" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0105.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0105.json new file mode 100644 index 0000000000000000000000000000000000000000..5d394d3f843344eb6d481e9fc4d7303a18cfb2f1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0105.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10080, + "completed_passes": 105, + "snapshot": "pass_end_0105", + "candidate": true, + "snapshot_arrays_sha256": "9a9868df25dc81ca56f5a682c236b77b670df590a25911dd97df5b90f6238405", + "score": 8.808550800173029e-06, + "score_result": { + "score": 8.808550800173029e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9935331440356094e-06, + 3.3991866530413972e-06, + 3.921900315617677e-06, + 5.0192306844110135e-06, + 5.962029717920814e-06, + 6.4599316829117015e-06, + 6.4579571699141525e-06, + 6.127767846919596e-06, + 5.882119694433641e-06, + 5.836993295815773e-06, + 6.072986252547707e-06, + 6.336352271318901e-06, + 6.610798209294444e-06, + 6.8501976784318686e-06, + 6.98801341059152e-06, + 7.154127160902135e-06, + 7.052715773170348e-06, + 6.759291864000261e-06, + 6.5760018514993135e-06, + 6.567418040503981e-06, + 6.603031579288654e-06, + 6.501209099951666e-06, + 6.22951120021753e-06, + 6.110712547524599e-06, + 6.366023626469541e-06, + 6.785988261981402e-06, + 7.0323158070095815e-06, + 7.111364084266825e-06, + 6.994269824645016e-06, + 6.826585831731791e-06, + 6.712353751936462e-06, + 6.750426564394729e-06, + 6.881205081299413e-06, + 7.165122042351868e-06, + 7.404564712487627e-06, + 7.753576028335374e-06, + 8.045097274589352e-06, + 8.102836545731407e-06, + 8.085685294645373e-06, + 8.255761713371612e-06, + 8.65488254930824e-06, + 8.974420779850334e-06, + 9.10621110961074e-06, + 9.261920240533073e-06, + 9.282368409913033e-06, + 9.239483006240334e-06, + 9.178093932860065e-06, + 9.459365173825063e-06, + 1.0001063856179826e-05, + 1.0436214324727189e-05, + 1.0254196240566671e-05, + 9.902075362333562e-06, + 9.641559699957725e-06, + 9.403706826560665e-06, + 9.397332178195938e-06, + 9.45793726714328e-06, + 9.444464012631215e-06, + 9.455140570935328e-06, + 9.480979315412696e-06, + 9.553208656143397e-06, + 9.622543984733056e-06, + 9.632435649109539e-06, + 9.755405699252151e-06, + 9.894335562421475e-06, + 1.0107665730174631e-05, + 1.0114341421285644e-05, + 1.0084473615279421e-05, + 1.0024011317000259e-05, + 9.937008144333959e-06, + 9.803731700230855e-06, + 9.627940016798675e-06, + 9.584488907421473e-06, + 9.589794899511617e-06, + 9.669898645370267e-06, + 9.796181984711438e-06, + 9.95122900349088e-06, + 1.0080003448820207e-05, + 1.025070196192246e-05, + 1.0609755918267183e-05, + 1.0989084330503829e-05, + 1.132842317019822e-05, + 1.1512029232108034e-05, + 1.1786580216721632e-05, + 1.2130400136811659e-05, + 1.2355752915027551e-05, + 1.2463051461963914e-05, + 1.2537213478935882e-05, + 1.2565202268888243e-05, + 1.2584441719809547e-05, + 1.257220355910249e-05, + 1.2536456779344007e-05, + 1.250195964530576e-05, + 1.2458388482627925e-05, + 1.2412387150106952e-05, + 1.2312877515796572e-05, + 1.210766004078323e-05 + ] + ], + "episode_mean_losses": [ + 8.808550800173029e-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": 2.9935331440356094e-06, + "observation_loss": 2.9935331440356094e-06, + "chamfer": 2.5383053525729338e-06, + "track": 4.552277346192568e-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": 4.700318822870031e-05, + "observation_loss": 3.3991866530413972e-06, + "chamfer": 2.874364326999057e-06, + "track": 5.248222691989213e-07, + "acceleration": 4.360400271252729e-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": 2.872250843211077e-05, + "observation_loss": 3.921900315617677e-06, + "chamfer": 3.3023379728547297e-06, + "track": 6.195625132932037e-07, + "acceleration": 2.4800607206998393e-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": 1.3969531210022978e-05, + "observation_loss": 5.0192306844110135e-06, + "chamfer": 4.1481980588287115e-06, + "track": 8.710326824257209e-07, + "acceleration": 8.950300070864614e-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": 1.0365382877353113e-05, + "observation_loss": 5.962029717920814e-06, + "chamfer": 4.815073680219939e-06, + "track": 1.146955924014037e-06, + "acceleration": 4.4033531594322994e-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": 8.029103810258675e-06, + "observation_loss": 6.4599316829117015e-06, + "chamfer": 5.132839760335628e-06, + "track": 1.3270920362629113e-06, + "acceleration": 1.5691720136601361e-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": 8.409111615037546e-06, + "observation_loss": 6.4579571699141525e-06, + "chamfer": 5.1077122407150455e-06, + "track": 1.3502447018254315e-06, + "acceleration": 1.9511546724970685e-06, + "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": 7.296227522601839e-06, + "observation_loss": 6.127767846919596e-06, + "chamfer": 4.873822490480961e-06, + "track": 1.2539452427517972e-06, + "acceleration": 1.1684599030559184e-06, + "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": 6.673193183814874e-06, + "observation_loss": 5.882119694433641e-06, + "chamfer": 4.704965704149799e-06, + "track": 1.1771537629101658e-06, + "acceleration": 7.910734893812332e-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": 6.163941179693211e-06, + "observation_loss": 5.836993295815773e-06, + "chamfer": 4.693838036473608e-06, + "track": 1.1431554867158411e-06, + "acceleration": 3.26948111251113e-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": 6.2047729443293065e-06, + "observation_loss": 6.072986252547707e-06, + "chamfer": 4.901730335404864e-06, + "track": 1.1712559171428438e-06, + "acceleration": 1.3178663493818021e-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": 6.442050562327495e-06, + "observation_loss": 6.336352271318901e-06, + "chamfer": 5.119212346471613e-06, + "track": 1.2171398111604503e-06, + "acceleration": 1.0569808495120014e-07, + "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": 6.67177027935395e-06, + "observation_loss": 6.610798209294444e-06, + "chamfer": 5.3546323215414304e-06, + "track": 1.2561660014398512e-06, + "acceleration": 6.097219795719866e-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": 6.946236226212932e-06, + "observation_loss": 6.8501976784318686e-06, + "chamfer": 5.562214028032031e-06, + "track": 1.2879837640866754e-06, + "acceleration": 9.603846251593495e-08, + "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": 7.02543593433802e-06, + "observation_loss": 6.98801341059152e-06, + "chamfer": 5.68889663554728e-06, + "track": 1.2991165476705646e-06, + "acceleration": 3.742264453876487e-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": 7.240929335239343e-06, + "observation_loss": 7.154127160902135e-06, + "chamfer": 5.8326145335740875e-06, + "track": 1.3215126273280475e-06, + "acceleration": 8.680228802404599e-08, + "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": 7.227791684272233e-06, + "observation_loss": 7.052715773170348e-06, + "chamfer": 5.758002771472093e-06, + "track": 1.2947131153850933e-06, + "acceleration": 1.7507598215615872e-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": 6.987717824813444e-06, + "observation_loss": 6.759291864000261e-06, + "chamfer": 5.541012342291651e-06, + "track": 1.2182795217086095e-06, + "acceleration": 2.284260176566022e-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": 6.693124760204228e-06, + "observation_loss": 6.5760018514993135e-06, + "chamfer": 5.4103461479826365e-06, + "track": 1.165655703516677e-06, + "acceleration": 1.1712284475606793e-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": 6.694008334307e-06, + "observation_loss": 6.567418040503981e-06, + "chamfer": 5.406368018157082e-06, + "track": 1.1610499086600612e-06, + "acceleration": 1.2659046433327603e-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": 6.783919616282219e-06, + "observation_loss": 6.603031579288654e-06, + "chamfer": 5.431767021946143e-06, + "track": 1.1712643299688352e-06, + "acceleration": 1.808881791021122e-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": 6.654536718997406e-06, + "observation_loss": 6.501209099951666e-06, + "chamfer": 5.360239811125211e-06, + "track": 1.1409694025132922e-06, + "acceleration": 1.5332761904574e-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": 6.390132512024138e-06, + "observation_loss": 6.22951120021753e-06, + "chamfer": 5.155110102350591e-06, + "track": 1.074401211553777e-06, + "acceleration": 1.6062136865002685e-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": 6.251690138014965e-06, + "observation_loss": 6.110712547524599e-06, + "chamfer": 5.055376732343575e-06, + "track": 1.0553357014941867e-06, + "acceleration": 1.409777752314767e-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": 6.506000318040606e-06, + "observation_loss": 6.366023626469541e-06, + "chamfer": 5.236668130237376e-06, + "track": 1.1293552688584896e-06, + "acceleration": 1.3997676262533787e-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": 7.064166311465669e-06, + "observation_loss": 6.785988261981402e-06, + "chamfer": 5.534765932679875e-06, + "track": 1.2512224429883645e-06, + "acceleration": 2.7817799264084897e-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": 7.31464433556539e-06, + "observation_loss": 7.0323158070095815e-06, + "chamfer": 5.705897365260171e-06, + "track": 1.3264185554362484e-06, + "acceleration": 2.823286138209369e-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": 7.302653102669865e-06, + "observation_loss": 7.111364084266825e-06, + "chamfer": 5.772128133685328e-06, + "track": 1.3392360642683343e-06, + "acceleration": 1.9128918893329683e-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": 7.41065059628454e-06, + "observation_loss": 6.994269824645016e-06, + "chamfer": 5.691894330084324e-06, + "track": 1.3023753808738547e-06, + "acceleration": 4.163806295309769e-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": 7.059978997858707e-06, + "observation_loss": 6.826585831731791e-06, + "chamfer": 5.572243026108481e-06, + "track": 1.2543429193101474e-06, + "acceleration": 2.333932656028992e-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": 6.783690423617372e-06, + "observation_loss": 6.712353751936462e-06, + "chamfer": 5.489998329721857e-06, + "track": 1.222355422214605e-06, + "acceleration": 7.133686352744917e-08, + "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": 6.8055387600907125e-06, + "observation_loss": 6.750426564394729e-06, + "chamfer": 5.524410426005488e-06, + "track": 1.2260162520760787e-06, + "acceleration": 5.511216016884646e-08, + "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": 6.9581733441737015e-06, + "observation_loss": 6.881205081299413e-06, + "chamfer": 5.631786734738853e-06, + "track": 1.2494181191868847e-06, + "acceleration": 7.696836945569885e-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": 7.275094958458794e-06, + "observation_loss": 7.165122042351868e-06, + "chamfer": 5.8411860663909465e-06, + "track": 1.323936203334597e-06, + "acceleration": 1.0997307242632814e-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": 7.493187240470434e-06, + "observation_loss": 7.404564712487627e-06, + "chamfer": 6.02098589297384e-06, + "track": 1.3835785921401111e-06, + "acceleration": 8.862232903084077e-08, + "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": 7.892780558904633e-06, + "observation_loss": 7.753576028335374e-06, + "chamfer": 6.2752105804975145e-06, + "track": 1.4783653341510217e-06, + "acceleration": 1.3920428898472892e-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": 8.095715202216525e-06, + "observation_loss": 8.045097274589352e-06, + "chamfer": 6.48080958853825e-06, + "track": 1.5642875723642646e-06, + "acceleration": 5.061752261781294e-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": 8.450731911580078e-06, + "observation_loss": 8.102836545731407e-06, + "chamfer": 6.525980097649153e-06, + "track": 1.5768561070217402e-06, + "acceleration": 3.4789582059602253e-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": 8.174591130227782e-06, + "observation_loss": 8.085685294645373e-06, + "chamfer": 6.533126452268334e-06, + "track": 1.552558728690201e-06, + "acceleration": 8.890602032352035e-08, + "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": 8.420362973993178e-06, + "observation_loss": 8.255761713371612e-06, + "chamfer": 6.659139671683079e-06, + "track": 1.5966215869411826e-06, + "acceleration": 1.646009479827626e-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": 8.864122719387524e-06, + "observation_loss": 8.65488254930824e-06, + "chamfer": 6.94008986101835e-06, + "track": 1.714793143037241e-06, + "acceleration": 2.092399569164627e-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": 9.112113730225246e-06, + "observation_loss": 8.974420779850334e-06, + "chamfer": 7.157480467867572e-06, + "track": 1.8169401982959243e-06, + "acceleration": 1.376927940555106e-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": 9.211908036377281e-06, + "observation_loss": 9.10621110961074e-06, + "chamfer": 7.2308312155655585e-06, + "track": 1.8753797803583439e-06, + "acceleration": 1.0569707598051536e-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": 9.321977813669946e-06, + "observation_loss": 9.261920240533073e-06, + "chamfer": 7.3288651947223116e-06, + "track": 1.9330552731844364e-06, + "acceleration": 6.005785735396785e-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": 9.366170161229093e-06, + "observation_loss": 9.282368409913033e-06, + "chamfer": 7.339033345488133e-06, + "track": 1.9433355191722512e-06, + "acceleration": 8.380172999977731e-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": 9.318464435636997e-06, + "observation_loss": 9.239483006240334e-06, + "chamfer": 7.307700343517354e-06, + "track": 1.931782890096656e-06, + "acceleration": 7.898140808038079e-08, + "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": 9.375459740113001e-06, + "observation_loss": 9.178093932860065e-06, + "chamfer": 7.261597147589782e-06, + "track": 1.9164965578966076e-06, + "acceleration": 1.9736562251182477e-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": 9.588181455910672e-06, + "observation_loss": 9.459365173825063e-06, + "chamfer": 7.448034921253566e-06, + "track": 2.0113304799451726e-06, + "acceleration": 1.2881606892278796e-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": 1.008446815831121e-05, + "observation_loss": 1.0001063856179826e-05, + "chamfer": 7.79089896241203e-06, + "track": 2.210164666394121e-06, + "acceleration": 8.340430923681197e-08, + "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": 1.0687486792448908e-05, + "observation_loss": 1.0436214324727189e-05, + "chamfer": 8.079829058260657e-06, + "track": 2.3563850390928565e-06, + "acceleration": 2.512724961434287e-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": 1.0376607860962395e-05, + "observation_loss": 1.0254196240566671e-05, + "chamfer": 7.963788448250853e-06, + "track": 2.290407564942143e-06, + "acceleration": 1.224119614562369e-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": 1.0055934581032488e-05, + "observation_loss": 9.902075362333562e-06, + "chamfer": 7.744894901406951e-06, + "track": 2.1571802335529355e-06, + "acceleration": 1.5385893448183197e-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": 9.686857083579525e-06, + "observation_loss": 9.641559699957725e-06, + "chamfer": 7.572458343929611e-06, + "track": 2.069101583401789e-06, + "acceleration": 4.529706743028328e-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": 9.461807167099323e-06, + "observation_loss": 9.403706826560665e-06, + "chamfer": 7.398940851999214e-06, + "track": 2.0047657471877756e-06, + "acceleration": 5.810020198282473e-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": 9.460457476961892e-06, + "observation_loss": 9.397332178195938e-06, + "chamfer": 7.383581305475673e-06, + "track": 2.013750417972915e-06, + "acceleration": 6.312563272103944e-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": 9.546928595227655e-06, + "observation_loss": 9.45793726714328e-06, + "chamfer": 7.418495442834683e-06, + "track": 2.039442051682272e-06, + "acceleration": 8.899096570758047e-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": 9.505149137112312e-06, + "observation_loss": 9.444464012631215e-06, + "chamfer": 7.403237304970389e-06, + "track": 2.041226707660826e-06, + "acceleration": 6.068498947797707e-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": 9.588672583049629e-06, + "observation_loss": 9.455140570935328e-06, + "chamfer": 7.385910066659562e-06, + "track": 2.0692307316494407e-06, + "acceleration": 1.3353162842122401e-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": 9.767853043740615e-06, + "observation_loss": 9.480979315412696e-06, + "chamfer": 7.398689831461525e-06, + "track": 2.082289483951172e-06, + "acceleration": 2.868741262318508e-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": 1.014875579130603e-05, + "observation_loss": 9.553208656143397e-06, + "chamfer": 7.4193899308738764e-06, + "track": 2.133818952643196e-06, + "acceleration": 5.955473056928895e-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": 1.0403276974102482e-05, + "observation_loss": 9.622543984733056e-06, + "chamfer": 7.460326287400676e-06, + "track": 2.162217469958705e-06, + "acceleration": 7.807330462128448e-07, + "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": 9.986027180275414e-06, + "observation_loss": 9.632435649109539e-06, + "chamfer": 7.464439022442093e-06, + "track": 2.16799639929377e-06, + "acceleration": 3.535918153829698e-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": 9.869587302091531e-06, + "observation_loss": 9.755405699252151e-06, + "chamfer": 7.553614977950929e-06, + "track": 2.2017907213012222e-06, + "acceleration": 1.1418172363164558e-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": 9.979837159335148e-06, + "observation_loss": 9.894335562421475e-06, + "chamfer": 7.64163451094646e-06, + "track": 2.2527010514750145e-06, + "acceleration": 8.550149033226262e-08, + "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": 1.0175640454690438e-05, + "observation_loss": 1.0107665730174631e-05, + "chamfer": 7.772203389322385e-06, + "track": 2.335461886104895e-06, + "acceleration": 6.797474583208896e-08, + "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": 1.0175956049351953e-05, + "observation_loss": 1.0114341421285644e-05, + "chamfer": 7.77115383243654e-06, + "track": 2.343187588849105e-06, + "acceleration": 6.161451437947107e-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": 1.0251341336697806e-05, + "observation_loss": 1.0084473615279421e-05, + "chamfer": 7.735475264780689e-06, + "track": 2.348998805246083e-06, + "acceleration": 1.6686735193616187e-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": 1.0120019396708813e-05, + "observation_loss": 1.0024011317000259e-05, + "chamfer": 7.652682143088896e-06, + "track": 2.371329173911363e-06, + "acceleration": 9.600808681398121e-08, + "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": 1.0010411642724648e-05, + "observation_loss": 9.937008144333959e-06, + "chamfer": 7.5681709859054536e-06, + "track": 2.368836703681154e-06, + "acceleration": 7.340380392406587e-08, + "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": 1.0017932254413608e-05, + "observation_loss": 9.803731700230855e-06, + "chamfer": 7.4846402640105225e-06, + "track": 2.3190912088466575e-06, + "acceleration": 2.1420028417651338e-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": 1.016074929793831e-05, + "observation_loss": 9.627940016798675e-06, + "chamfer": 7.3891496867872775e-06, + "track": 2.238790557385073e-06, + "acceleration": 5.328089969225402e-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": 9.880283869279083e-06, + "observation_loss": 9.584488907421473e-06, + "chamfer": 7.3618771239125635e-06, + "track": 2.22261178350891e-06, + "acceleration": 2.95794734483934e-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": 9.775091712072026e-06, + "observation_loss": 9.589794899511617e-06, + "chamfer": 7.376831490546465e-06, + "track": 2.2129634089651518e-06, + "acceleration": 1.8529645728904143e-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": 9.797807251743507e-06, + "observation_loss": 9.669898645370267e-06, + "chamfer": 7.437078693328658e-06, + "track": 2.2328201794152847e-06, + "acceleration": 1.2790857795152988e-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": 9.853626579570118e-06, + "observation_loss": 9.796181984711438e-06, + "chamfer": 7.52209734855569e-06, + "track": 2.2740850909030996e-06, + "acceleration": 5.744442077570966e-08, + "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": 9.984351891034748e-06, + "observation_loss": 9.95122900349088e-06, + "chamfer": 7.615934009663761e-06, + "track": 2.3352945390797686e-06, + "acceleration": 3.312278451517159e-08, + "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": 1.0124391337740235e-05, + "observation_loss": 1.0080003448820207e-05, + "chamfer": 7.667459613003302e-06, + "track": 2.412543835816905e-06, + "acceleration": 4.4387437725390555e-08, + "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": 1.0355519407312386e-05, + "observation_loss": 1.025070196192246e-05, + "chamfer": 7.74503769207513e-06, + "track": 2.505664497221005e-06, + "acceleration": 1.048172322271057e-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": 1.094234085030621e-05, + "observation_loss": 1.0609755918267183e-05, + "chamfer": 7.925596037239302e-06, + "track": 2.684160335775232e-06, + "acceleration": 3.325852446778299e-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": 1.181825155072147e-05, + "observation_loss": 1.0989084330503829e-05, + "chamfer": 8.119799531414174e-06, + "track": 2.8692843443423044e-06, + "acceleration": 8.291676181215735e-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": 1.1607569831539877e-05, + "observation_loss": 1.132842317019822e-05, + "chamfer": 8.306768904731143e-06, + "track": 3.0216542654670775e-06, + "acceleration": 2.7914671818507486e-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": 1.1598642231547274e-05, + "observation_loss": 1.1512029232108034e-05, + "chamfer": 8.394485121243633e-06, + "track": 3.1175443382380763e-06, + "acceleration": 8.661287864697442e-08, + "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": 1.195532240672037e-05, + "observation_loss": 1.1786580216721632e-05, + "chamfer": 8.562333277950529e-06, + "track": 3.2242464840237517e-06, + "acceleration": 1.6874206210104603e-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": 1.2333619451965205e-05, + "observation_loss": 1.2130400136811659e-05, + "chamfer": 8.757518116908614e-06, + "track": 3.372882474650396e-06, + "acceleration": 2.0321944305123907e-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": 1.2425886779965367e-05, + "observation_loss": 1.2355752915027551e-05, + "chamfer": 8.873096703609917e-06, + "track": 3.4826559840439586e-06, + "acceleration": 7.013384362153374e-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": 1.2546860489237588e-05, + "observation_loss": 1.2463051461963914e-05, + "chamfer": 8.923224413592834e-06, + "track": 3.539826820997405e-06, + "acceleration": 8.380889937598113e-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": 1.2601954949786887e-05, + "observation_loss": 1.2537213478935882e-05, + "chamfer": 8.96558503882261e-06, + "track": 3.571628667486948e-06, + "acceleration": 6.474109426335417e-08, + "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": 1.261672605323838e-05, + "observation_loss": 1.2565202268888243e-05, + "chamfer": 8.95796165423235e-06, + "track": 3.6072406146558933e-06, + "acceleration": 5.152371329586458e-08, + "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": 1.2634617633011658e-05, + "observation_loss": 1.2584441719809547e-05, + "chamfer": 8.944021828938276e-06, + "track": 3.6404203456186224e-06, + "acceleration": 5.0175479771041864e-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": 1.2693836652033497e-05, + "observation_loss": 1.257220355910249e-05, + "chamfer": 8.945708941610064e-06, + "track": 3.6264943901187507e-06, + "acceleration": 1.2163296503331367e-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": 1.2650692042370792e-05, + "observation_loss": 1.2536456779344007e-05, + "chamfer": 8.925681868277024e-06, + "track": 3.610774456319632e-06, + "acceleration": 1.1423565382528977e-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": 1.2514692571130581e-05, + "observation_loss": 1.250195964530576e-05, + "chamfer": 8.893293852452189e-06, + "track": 3.608666020227247e-06, + "acceleration": 1.273332639328828e-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": 1.2508647159847897e-05, + "observation_loss": 1.2458388482627925e-05, + "chamfer": 8.855611667968333e-06, + "track": 3.602777042033267e-06, + "acceleration": 5.025905025490829e-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": 1.251997036888497e-05, + "observation_loss": 1.2412387150106952e-05, + "chamfer": 8.817743946565315e-06, + "track": 3.5946432035416365e-06, + "acceleration": 1.0758320456716319e-07, + "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": 1.2419258382578846e-05, + "observation_loss": 1.2312877515796572e-05, + "chamfer": 8.765567145019304e-06, + "track": 3.547309916029917e-06, + "acceleration": 1.0638117231565047e-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": 1.2156922821304761e-05, + "observation_loss": 1.210766004078323e-05, + "chamfer": 8.65408219397068e-06, + "track": 3.4535776194388745e-06, + "acceleration": 4.9262816048667446e-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": 9.862967061735617e-06, + "chamfer_mean": 6.812987969340156e-06, + "track_mean": 1.99556280951659e-06, + "acceleration_mean": 1.0544162559652144e-06, + "observation_score": 8.808550800173029e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4409847300012188 + }, + "score_arrays_file": "pass_scores/pass_end_0105.npz", + "score_arrays_sha256": "8b123da0017d05f0266bf9629af03a88373e40f4bc86117b5a068a72e3eec1c3" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0106.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0106.json new file mode 100644 index 0000000000000000000000000000000000000000..f0383a34a4e5d10cada6e5059ac9ba94d066f52f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0106.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10176, + "completed_passes": 106, + "snapshot": "pass_end_0106", + "candidate": true, + "snapshot_arrays_sha256": "8659bafcfe07827b32b4b299f2b52f2e86673040f39de20d507c10b4ce4653da", + "score": 8.797353795368204e-06, + "score_result": { + "score": 8.797353795368204e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.991703013321967e-06, + 3.3971030006796354e-06, + 3.915830347978044e-06, + 5.007462732464774e-06, + 5.948095349594951e-06, + 6.446260158554651e-06, + 6.452430625358829e-06, + 6.128537279437296e-06, + 5.8813234318222385e-06, + 5.831877388118301e-06, + 6.062499323888915e-06, + 6.32269575362443e-06, + 6.595090781047475e-06, + 6.834231498942245e-06, + 6.9711504693259485e-06, + 7.135731266316725e-06, + 7.033234851405723e-06, + 6.740753178746672e-06, + 6.556849257322028e-06, + 6.548284090968082e-06, + 6.582080459338613e-06, + 6.478986506408546e-06, + 6.207677415659418e-06, + 6.089203907322371e-06, + 6.342821507132612e-06, + 6.761365511920303e-06, + 7.008839929767419e-06, + 7.089284281391883e-06, + 6.9745346991112456e-06, + 6.808396392443683e-06, + 6.694415787933394e-06, + 6.734471753588878e-06, + 6.865679097245447e-06, + 7.1505287451145705e-06, + 7.3906112447730266e-06, + 7.73921055952087e-06, + 8.031651304918341e-06, + 8.09010089142248e-06, + 8.072222044575028e-06, + 8.240402166848071e-06, + 8.639187399239745e-06, + 8.959310434875078e-06, + 9.091268111660611e-06, + 9.246840818377677e-06, + 9.267022505810019e-06, + 9.225415851688012e-06, + 9.164187758869957e-06, + 9.44573366723489e-06, + 9.990631042455789e-06, + 1.0427236702525988e-05, + 1.0244888471788727e-05, + 9.892427442537155e-06, + 9.631728971726261e-06, + 9.391612366016489e-06, + 9.38373341341503e-06, + 9.443292583455332e-06, + 9.430214959138539e-06, + 9.440650501346681e-06, + 9.467025847698096e-06, + 9.541086910758168e-06, + 9.610153938410804e-06, + 9.621354365663137e-06, + 9.746141586219892e-06, + 9.887588021229021e-06, + 1.010345386021072e-05, + 1.0112312338605989e-05, + 1.0083310371555854e-05, + 1.0023584763985127e-05, + 9.937799404724501e-06, + 9.803756256587803e-06, + 9.62542890192708e-06, + 9.580800906405784e-06, + 9.584511644789018e-06, + 9.663017408456653e-06, + 9.788034731172957e-06, + 9.941634743881878e-06, + 1.0069782547361683e-05, + 1.0241283234790899e-05, + 1.0602261681924574e-05, + 1.0983023457811214e-05, + 1.1323201761115342e-05, + 1.150764092017198e-05, + 1.1779696251323912e-05, + 1.212312690768158e-05, + 1.2349839380476624e-05, + 1.245724251930369e-05, + 1.2530474123195745e-05, + 1.2558211892610416e-05, + 1.2577474080899265e-05, + 1.256442101293942e-05, + 1.252790661965264e-05, + 1.2494549082475714e-05, + 1.2451760085241403e-05, + 1.2405541383486707e-05, + 1.2306421012908686e-05, + 1.210209939017659e-05 + ] + ], + "episode_mean_losses": [ + 8.797353795368204e-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": 2.991703013321967e-06, + "observation_loss": 2.991703013321967e-06, + "chamfer": 2.536782403694815e-06, + "track": 4.5492058120544243e-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": 4.69757906103041e-05, + "observation_loss": 3.3971030006796354e-06, + "chamfer": 2.872645154639031e-06, + "track": 5.244579028840235e-07, + "acceleration": 4.357868601800874e-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": 2.8934697184013203e-05, + "observation_loss": 3.915830347978044e-06, + "chamfer": 3.29746990246349e-06, + "track": 6.183602181408787e-07, + "acceleration": 2.5018865926540457e-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": 1.3988228602102026e-05, + "observation_loss": 5.007462732464774e-06, + "chamfer": 4.139451448281761e-06, + "track": 8.680111704961746e-07, + "acceleration": 8.980766324384604e-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": 1.0347412171540782e-05, + "observation_loss": 5.948095349594951e-06, + "chamfer": 4.805833214049926e-06, + "track": 1.1422619081713492e-06, + "acceleration": 4.399317276693182e-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": 8.007624273886904e-06, + "observation_loss": 6.446260158554651e-06, + "chamfer": 5.12400720253936e-06, + "track": 1.3222531833889661e-06, + "acceleration": 1.5613636605849024e-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": 8.363903361896519e-06, + "observation_loss": 6.452430625358829e-06, + "chamfer": 5.104081992612919e-06, + "track": 1.3483486327459104e-06, + "acceleration": 1.911472509164014e-06, + "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": 7.243338131956989e-06, + "observation_loss": 6.128537279437296e-06, + "chamfer": 4.874116712016985e-06, + "track": 1.2544204537334736e-06, + "acceleration": 1.1148007388328551e-06, + "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": 6.635576482949546e-06, + "observation_loss": 5.8813234318222385e-06, + "chamfer": 4.704294951807242e-06, + "track": 1.1770283663281589e-06, + "acceleration": 7.542532216575637e-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": 6.143556220195023e-06, + "observation_loss": 5.831877388118301e-06, + "chamfer": 4.6903778638807125e-06, + "track": 1.141499524237588e-06, + "acceleration": 3.1167900260697934e-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": 6.192118235048838e-06, + "observation_loss": 6.062499323888915e-06, + "chamfer": 4.894771791441599e-06, + "track": 1.167727418760478e-06, + "acceleration": 1.2961886852735915e-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": 6.429604127333732e-06, + "observation_loss": 6.32269575362443e-06, + "chamfer": 5.11015650772606e-06, + "track": 1.2125392458983697e-06, + "acceleration": 1.0690857266126841e-07, + "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": 6.6596126089280006e-06, + "observation_loss": 6.595090781047475e-06, + "chamfer": 5.3441458476299886e-06, + "track": 1.2509451607911615e-06, + "acceleration": 6.452185630223539e-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": 6.932657470315462e-06, + "observation_loss": 6.834231498942245e-06, + "chamfer": 5.551362846745178e-06, + "track": 1.2828687658839044e-06, + "acceleration": 9.842611348176433e-08, + "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": 7.0099140430102125e-06, + "observation_loss": 6.9711504693259485e-06, + "chamfer": 5.6769522416288964e-06, + "track": 1.2941981140102143e-06, + "acceleration": 3.876355592069558e-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": 7.223897227959242e-06, + "observation_loss": 7.135731266316725e-06, + "chamfer": 5.8191926655126736e-06, + "track": 1.3165387144908891e-06, + "acceleration": 8.816618901619222e-08, + "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": 7.209403520391788e-06, + "observation_loss": 7.033234851405723e-06, + "chamfer": 5.743425845139427e-06, + "track": 1.289809006266296e-06, + "acceleration": 1.7616851266666345e-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": 6.970722552068764e-06, + "observation_loss": 6.740753178746672e-06, + "chamfer": 5.52700203115819e-06, + "track": 1.2137510339016444e-06, + "acceleration": 2.29969572274058e-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": 6.675763870589435e-06, + "observation_loss": 6.556849257322028e-06, + "chamfer": 5.395665539253969e-06, + "track": 1.161183945441735e-06, + "acceleration": 1.1891454221313325e-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": 6.6770962803275324e-06, + "observation_loss": 6.548284090968082e-06, + "chamfer": 5.391807007981697e-06, + "track": 1.1564770829863846e-06, + "acceleration": 1.2881224620286957e-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": 6.76434456181596e-06, + "observation_loss": 6.582080459338613e-06, + "chamfer": 5.415962732513435e-06, + "track": 1.1661178405120154e-06, + "acceleration": 1.8226407405563805e-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": 6.634129476879025e-06, + "observation_loss": 6.478986506408546e-06, + "chamfer": 5.3433168432093225e-06, + "track": 1.1356696631992236e-06, + "acceleration": 1.551430983681712e-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": 6.369786660798127e-06, + "observation_loss": 6.207677415659418e-06, + "chamfer": 5.138243523106212e-06, + "track": 1.0694338925532065e-06, + "acceleration": 1.621094298798198e-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": 6.232189662114251e-06, + "observation_loss": 6.089203907322371e-06, + "chamfer": 5.0387084229441825e-06, + "track": 1.0504954843781888e-06, + "acceleration": 1.4298595374384604e-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": 6.4832629504962824e-06, + "observation_loss": 6.342821507132612e-06, + "chamfer": 5.218760634306818e-06, + "track": 1.1240606454521185e-06, + "acceleration": 1.404415854722174e-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": 7.040529908408644e-06, + "observation_loss": 6.761365511920303e-06, + "chamfer": 5.516067176358774e-06, + "track": 1.2452983355615288e-06, + "acceleration": 2.791645954403066e-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": 7.292061582120368e-06, + "observation_loss": 7.008839929767419e-06, + "chamfer": 5.688167220796458e-06, + "track": 1.3206727089709602e-06, + "acceleration": 2.8322179446149676e-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": 7.281884336407529e-06, + "observation_loss": 7.089284281391883e-06, + "chamfer": 5.755293386755511e-06, + "track": 1.333990894636372e-06, + "acceleration": 1.9260016870248364e-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": 7.3925725700974e-06, + "observation_loss": 6.9745346991112456e-06, + "chamfer": 5.676753517036559e-06, + "track": 1.2977810683878488e-06, + "acceleration": 4.1803789940786373e-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": 7.041134267637972e-06, + "observation_loss": 6.808396392443683e-06, + "chamfer": 5.558104930969421e-06, + "track": 1.2502916888479376e-06, + "acceleration": 2.327379888811265e-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": 6.7646924435393885e-06, + "observation_loss": 6.694415787933394e-06, + "chamfer": 5.4760289458499756e-06, + "track": 1.2183868420834187e-06, + "acceleration": 7.027648507573758e-08, + "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": 6.789580311306054e-06, + "observation_loss": 6.734471753588878e-06, + "chamfer": 5.512001735041849e-06, + "track": 1.222470132233866e-06, + "acceleration": 5.5108703378436985e-08, + "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": 6.94233676767908e-06, + "observation_loss": 6.865679097245447e-06, + "chamfer": 5.619638159259921e-06, + "track": 1.2460409379855264e-06, + "acceleration": 7.665768464448774e-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": 7.261230166477617e-06, + "observation_loss": 7.1505287451145705e-06, + "chamfer": 5.829756446473766e-06, + "track": 1.3207722986408044e-06, + "acceleration": 1.1070143557390111e-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": 7.479640771634877e-06, + "observation_loss": 7.3906112447730266e-06, + "chamfer": 6.0102065617684275e-06, + "track": 1.3804049103782745e-06, + "acceleration": 8.902944159672188e-08, + "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": 7.877844836912118e-06, + "observation_loss": 7.73921055952087e-06, + "chamfer": 6.264249350351747e-06, + "track": 1.4749612091691233e-06, + "acceleration": 1.3863459003005119e-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": 8.082648491836153e-06, + "observation_loss": 8.031651304918341e-06, + "chamfer": 6.4708219724707305e-06, + "track": 1.560829218760773e-06, + "acceleration": 5.09969240169994e-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": 8.437315955234226e-06, + "observation_loss": 8.09010089142248e-06, + "chamfer": 6.5167550928890705e-06, + "track": 1.5733459122202476e-06, + "acceleration": 3.472148080163606e-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": 8.162023732438684e-06, + "observation_loss": 8.072222044575028e-06, + "chamfer": 6.523518095491454e-06, + "track": 1.5487037217098987e-06, + "acceleration": 8.980162391480917e-08, + "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": 8.406893357459921e-06, + "observation_loss": 8.240402166848071e-06, + "chamfer": 6.6481056819611695e-06, + "track": 1.5922961438263883e-06, + "acceleration": 1.6649126166612405e-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": 8.849503501551226e-06, + "observation_loss": 8.639187399239745e-06, + "chamfer": 6.92901403454016e-06, + "track": 1.710173478386423e-06, + "acceleration": 2.1031647179370339e-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": 9.097836482396815e-06, + "observation_loss": 8.959310434875078e-06, + "chamfer": 7.146790721890284e-06, + "track": 1.8125198266716325e-06, + "acceleration": 1.3852574909378745e-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": 9.1964766397723e-06, + "observation_loss": 9.091268111660611e-06, + "chamfer": 7.2202451519842725e-06, + "track": 1.8710228459895006e-06, + "acceleration": 1.0520840731942371e-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": 9.306912033935077e-06, + "observation_loss": 9.246840818377677e-06, + "chamfer": 7.318170446524164e-06, + "track": 1.928670599227189e-06, + "acceleration": 6.007114450312656e-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": 9.350742402602918e-06, + "observation_loss": 9.267022505810019e-06, + "chamfer": 7.328133051487384e-06, + "track": 1.9388896816963097e-06, + "acceleration": 8.372003179601961e-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": 9.303036677010823e-06, + "observation_loss": 9.225415851688012e-06, + "chamfer": 7.297758202184923e-06, + "track": 1.9276581042504404e-06, + "acceleration": 7.762040610259646e-08, + "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": 9.362493074149825e-06, + "observation_loss": 9.164187758869957e-06, + "chamfer": 7.251694114529528e-06, + "track": 1.912493416966754e-06, + "acceleration": 1.9830555686439766e-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": 9.576501724950504e-06, + "observation_loss": 9.44573366723489e-06, + "chamfer": 7.438179181917803e-06, + "track": 2.007554030569736e-06, + "acceleration": 1.307676882333908e-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": 1.0074397323478479e-05, + "observation_loss": 9.990631042455789e-06, + "chamfer": 7.783555702189915e-06, + "track": 2.2070751128921984e-06, + "acceleration": 8.376639470952796e-08, + "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": 1.067923858499853e-05, + "observation_loss": 1.0427236702525988e-05, + "chamfer": 8.073462595348246e-06, + "track": 2.353774107177742e-06, + "acceleration": 2.520015982554469e-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": 1.0367678441980388e-05, + "observation_loss": 1.0244888471788727e-05, + "chamfer": 7.957105481182225e-06, + "track": 2.2877834453538526e-06, + "acceleration": 1.2278978545054997e-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": 1.004718887998024e-05, + "observation_loss": 9.892427442537155e-06, + "chamfer": 7.737990927125793e-06, + "track": 2.1544362880376866e-06, + "acceleration": 1.5476163639505103e-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": 9.67723099165596e-06, + "observation_loss": 9.631728971726261e-06, + "chamfer": 7.565769010398071e-06, + "track": 2.0659601887018653e-06, + "acceleration": 4.5502414280917947e-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": 9.449747267353814e-06, + "observation_loss": 9.391612366016489e-06, + "chamfer": 7.390502560156165e-06, + "track": 2.001109805860324e-06, + "acceleration": 5.813526016140713e-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": 9.447184311284218e-06, + "observation_loss": 9.38373341341503e-06, + "chamfer": 7.374392680503661e-06, + "track": 2.0093409602850443e-06, + "acceleration": 6.34504857544016e-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": 9.532499461784028e-06, + "observation_loss": 9.443292583455332e-06, + "chamfer": 7.4086037784582e-06, + "track": 2.0346888049971312e-06, + "acceleration": 8.92068428015591e-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": 9.490710908721667e-06, + "observation_loss": 9.430214959138539e-06, + "chamfer": 7.393774467345793e-06, + "track": 2.036440491792746e-06, + "acceleration": 6.049587852885452e-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": 9.574009709467646e-06, + "observation_loss": 9.440650501346681e-06, + "chamfer": 7.376314897555858e-06, + "track": 2.0643356037908234e-06, + "acceleration": 1.3335906601241732e-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": 9.754067832545843e-06, + "observation_loss": 9.467025847698096e-06, + "chamfer": 7.389573511318304e-06, + "track": 2.077452109006117e-06, + "acceleration": 2.870416437872336e-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": 1.014396457321709e-05, + "observation_loss": 9.541086910758168e-06, + "chamfer": 7.4115355346293654e-06, + "track": 2.129550921381451e-06, + "acceleration": 6.028776624589227e-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": 1.0405447028460912e-05, + "observation_loss": 9.610153938410804e-06, + "chamfer": 7.452580575773027e-06, + "track": 2.1575735900114523e-06, + "acceleration": 7.952931468935276e-07, + "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": 9.982194569602143e-06, + "observation_loss": 9.621354365663137e-06, + "chamfer": 7.4577524173946586e-06, + "track": 2.163602175642154e-06, + "acceleration": 3.608402607824246e-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": 9.863554623734672e-06, + "observation_loss": 9.746141586219892e-06, + "chamfer": 7.5480766099644825e-06, + "track": 2.198065203629085e-06, + "acceleration": 1.1741317251789951e-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": 9.973643500416074e-06, + "observation_loss": 9.887588021229021e-06, + "chamfer": 7.637398994120304e-06, + "track": 2.250189254482393e-06, + "acceleration": 8.60555289250442e-08, + "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": 1.0170705536438618e-05, + "observation_loss": 1.010345386021072e-05, + "chamfer": 7.769463081785943e-06, + "track": 2.333990778424777e-06, + "acceleration": 6.725188939071813e-08, + "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": 1.0173950613534544e-05, + "observation_loss": 1.0112312338605989e-05, + "chamfer": 7.769713192828931e-06, + "track": 2.342599145777058e-06, + "acceleration": 6.163830335026432e-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": 1.0249957085761707e-05, + "observation_loss": 1.0083310371555854e-05, + "chamfer": 7.734677637927234e-06, + "track": 2.3486327336286195e-06, + "acceleration": 1.6664675683841779e-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": 1.0119558282895014e-05, + "observation_loss": 1.0023584763985127e-05, + "chamfer": 7.652262866031379e-06, + "track": 2.3713218979537487e-06, + "acceleration": 9.597339101219404e-08, + "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": 1.0010998266807292e-05, + "observation_loss": 9.937799404724501e-06, + "chamfer": 7.56871804696857e-06, + "track": 2.3690811303822557e-06, + "acceleration": 7.319867734167929e-08, + "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": 1.0018711691373028e-05, + "observation_loss": 9.803756256587803e-06, + "chamfer": 7.484625257347943e-06, + "track": 2.3191307718661847e-06, + "acceleration": 2.1495503688129247e-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": 1.0159663361264393e-05, + "observation_loss": 9.62542890192708e-06, + "chamfer": 7.3872788561857305e-06, + "track": 2.238149818367674e-06, + "acceleration": 5.342340045899618e-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": 9.878232958726585e-06, + "observation_loss": 9.580800906405784e-06, + "chamfer": 7.359139544860227e-06, + "track": 2.221661816292908e-06, + "acceleration": 2.9743159757344984e-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": 9.771375516720582e-06, + "observation_loss": 9.584511644789018e-06, + "chamfer": 7.372930667770561e-06, + "track": 2.2115807496447815e-06, + "acceleration": 1.8686425562464137e-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": 9.795715413929429e-06, + "observation_loss": 9.663017408456653e-06, + "chamfer": 7.432177426380804e-06, + "track": 2.2308395273284987e-06, + "acceleration": 1.326980623161944e-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": 9.84691723715514e-06, + "observation_loss": 9.788034731172957e-06, + "chamfer": 7.516590358136455e-06, + "track": 2.2714446004101774e-06, + "acceleration": 5.888241361162727e-08, + "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": 9.975266948458739e-06, + "observation_loss": 9.941634743881878e-06, + "chamfer": 7.609684871567879e-06, + "track": 2.331950099687674e-06, + "acceleration": 3.3632169049724325e-08, + "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": 1.0115605618921109e-05, + "observation_loss": 1.0069782547361683e-05, + "chamfer": 7.660831215616781e-06, + "track": 2.4089515591185773e-06, + "acceleration": 4.582311063927591e-08, + "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": 1.0346907401981298e-05, + "observation_loss": 1.0241283234790899e-05, + "chamfer": 7.739029570075218e-06, + "track": 2.502254119463032e-06, + "acceleration": 1.0562421692839052e-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": 1.0988901522068772e-05, + "observation_loss": 1.0602261681924574e-05, + "chamfer": 7.920873031252995e-06, + "track": 2.6813888780452544e-06, + "acceleration": 3.8663941381855693e-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": 1.203989904752234e-05, + "observation_loss": 1.0983023457811214e-05, + "chamfer": 8.115792297758162e-06, + "track": 2.867230705305701e-06, + "acceleration": 1.056875589711126e-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": 1.1660206837404985e-05, + "observation_loss": 1.1323201761115342e-05, + "chamfer": 8.30349927127827e-06, + "track": 3.0197027172107482e-06, + "acceleration": 3.3700484891596716e-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": 1.1593564522627275e-05, + "observation_loss": 1.150764092017198e-05, + "chamfer": 8.39166750665754e-06, + "track": 3.115973413514439e-06, + "acceleration": 8.592357403358619e-08, + "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": 1.195189543068409e-05, + "observation_loss": 1.1779696251323912e-05, + "chamfer": 8.558097761124372e-06, + "track": 3.2215982628258644e-06, + "acceleration": 1.7219906567333965e-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": 1.2327764125075191e-05, + "observation_loss": 1.212312690768158e-05, + "chamfer": 8.753441761655267e-06, + "track": 3.3696853733999887e-06, + "acceleration": 2.0463764371925208e-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": 1.2421448445820715e-05, + "observation_loss": 1.2349839380476624e-05, + "chamfer": 8.870200872479472e-06, + "track": 3.4796389627445024e-06, + "acceleration": 7.16092003472113e-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": 1.2541256182885263e-05, + "observation_loss": 1.245724251930369e-05, + "chamfer": 8.920382242649794e-06, + "track": 3.5368600492802216e-06, + "acceleration": 8.401386963896584e-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": 1.2595901353051886e-05, + "observation_loss": 1.2530474123195745e-05, + "chamfer": 8.962144420365803e-06, + "track": 3.5683294754562667e-06, + "acceleration": 6.542715880186734e-08, + "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": 1.2610368685272988e-05, + "observation_loss": 1.2558211892610416e-05, + "chamfer": 8.954302757047117e-06, + "track": 3.60390959031065e-06, + "acceleration": 5.215683884784994e-08, + "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": 1.2628740478248801e-05, + "observation_loss": 1.2577474080899265e-05, + "chamfer": 8.940423867898062e-06, + "track": 3.6370504403748782e-06, + "acceleration": 5.1266379585968025e-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": 1.2688040442299098e-05, + "observation_loss": 1.256442101293942e-05, + "chamfer": 8.941576197685208e-06, + "track": 3.6228448152542114e-06, + "acceleration": 1.236196425224989e-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": 1.264418642676901e-05, + "observation_loss": 1.252790661965264e-05, + "chamfer": 8.921060725697316e-06, + "track": 3.6068461213289993e-06, + "acceleration": 1.1627937368530183e-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": 1.250746390724089e-05, + "observation_loss": 1.2494549082475714e-05, + "chamfer": 8.889156561053824e-06, + "track": 3.6053922940482153e-06, + "acceleration": 1.2914607161462754e-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": 1.2502709068940021e-05, + "observation_loss": 1.2451760085241403e-05, + "chamfer": 8.852030077832751e-06, + "track": 3.5997300074086525e-06, + "acceleration": 5.094921462500679e-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": 1.2514204172475729e-05, + "observation_loss": 1.2405541383486707e-05, + "chamfer": 8.813947715680115e-06, + "track": 3.591593667806592e-06, + "acceleration": 1.086626681967573e-07, + "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": 1.2413861441018526e-05, + "observation_loss": 1.2306421012908686e-05, + "chamfer": 8.76195917953737e-06, + "track": 3.544461833371315e-06, + "acceleration": 1.074404210044122e-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": 1.2151659575465601e-05, + "observation_loss": 1.210209939017659e-05, + "chamfer": 8.650895324535668e-06, + "track": 3.4512040656409226e-06, + "acceleration": 4.956041621539953e-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": 9.856985634826287e-06, + "chamfer_mean": 6.805114087645355e-06, + "track_mean": 1.992239723414002e-06, + "acceleration_mean": 1.059631815616043e-06, + "observation_score": 8.797353795368204e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4298886390006373 + }, + "score_arrays_file": "pass_scores/pass_end_0106.npz", + "score_arrays_sha256": "6ac7fdd86890574678e6c9d6da0498aef136981cac76fa3038df532fa295d314" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0107.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0107.json new file mode 100644 index 0000000000000000000000000000000000000000..5dac7e377135b547da59f438907fada8ca7a7965 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0107.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10272, + "completed_passes": 107, + "snapshot": "pass_end_0107", + "candidate": true, + "snapshot_arrays_sha256": "9cba0b9e2b2946af94a33d515fe7c63a2b9abffc97738b92756136913b7f9fe7", + "score": 8.785967108811596e-06, + "score_result": { + "score": 8.785967108811596e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.989877884829184e-06, + 3.3950157103390666e-06, + 3.909530278178863e-06, + 4.995386461814633e-06, + 5.933828106208239e-06, + 6.4304167608497664e-06, + 6.443871370720444e-06, + 6.127621873019962e-06, + 5.881180186406709e-06, + 5.827826498716604e-06, + 6.052886874385877e-06, + 6.310307981038932e-06, + 6.579838554898743e-06, + 6.818660494900541e-06, + 6.954150194360409e-06, + 7.117835139069939e-06, + 7.014455604803516e-06, + 6.723083060933277e-06, + 6.537849913001992e-06, + 6.529370693897363e-06, + 6.561992449860554e-06, + 6.458118605223717e-06, + 6.18661988482927e-06, + 6.0684756135742646e-06, + 6.320151896943571e-06, + 6.7369073804002255e-06, + 6.9860179792158306e-06, + 7.067623300827108e-06, + 6.9553011599055026e-06, + 6.7907349148299545e-06, + 6.677641522401245e-06, + 6.71992984280223e-06, + 6.851011676189955e-06, + 7.136058229662012e-06, + 7.376348094112473e-06, + 7.724556780885905e-06, + 8.0176250776276e-06, + 8.075667210505344e-06, + 8.056739716266748e-06, + 8.222459655371495e-06, + 8.620310836704448e-06, + 8.94106415216811e-06, + 9.072957254829817e-06, + 9.228132512362208e-06, + 9.247849448001944e-06, + 9.208036317431834e-06, + 9.148227036348544e-06, + 9.430576028535143e-06, + 9.978377420338802e-06, + 1.041624454956036e-05, + 1.0233465218334459e-05, + 9.881004189082887e-06, + 9.620043783797882e-06, + 9.377647984365467e-06, + 9.368750397698022e-06, + 9.427712939213961e-06, + 9.415311069460586e-06, + 9.425581083633006e-06, + 9.452311132918112e-06, + 9.526958820060827e-06, + 9.59689623414306e-06, + 9.60965917329304e-06, + 9.73610167420702e-06, + 9.880162906483747e-06, + 1.0098739949171431e-05, + 1.0110213224834297e-05, + 1.0082387234433554e-05, + 1.0024266885011457e-05, + 9.940145901055075e-06, + 9.805254194361623e-06, + 9.624816811992787e-06, + 9.578198842064012e-06, + 9.580792720953468e-06, + 9.657465852797031e-06, + 9.781198968994431e-06, + 9.933636647474486e-06, + 1.0060363820230123e-05, + 1.0233114153379574e-05, + 1.059584246831946e-05, + 1.097781478165416e-05, + 1.1318469660182018e-05, + 1.1503010682645254e-05, + 1.1772794096032158e-05, + 1.2115933714085259e-05, + 1.234424053109251e-05, + 1.2451592738216277e-05, + 1.2523471013992094e-05, + 1.2550845895020757e-05, + 1.2570615581353195e-05, + 1.2557323316286784e-05, + 1.2519987649284303e-05, + 1.2488875654526055e-05, + 1.2446186701708939e-05, + 1.2400322702887934e-05, + 1.230105226568412e-05, + 1.2097510989406146e-05 + ] + ], + "episode_mean_losses": [ + 8.785967108811596e-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": 2.989877884829184e-06, + "observation_loss": 2.989877884829184e-06, + "chamfer": 2.5352630927955033e-06, + "track": 4.546147920336807e-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": 4.6946515794843435e-05, + "observation_loss": 3.3950157103390666e-06, + "chamfer": 2.8709218895528466e-06, + "track": 5.240938776296389e-07, + "acceleration": 4.355149940238334e-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": 2.9117367375874892e-05, + "observation_loss": 3.909530278178863e-06, + "chamfer": 3.2924151582847117e-06, + "track": 6.171151767375704e-07, + "acceleration": 2.520783709769603e-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": 1.3998278518556617e-05, + "observation_loss": 4.995386461814633e-06, + "chamfer": 4.130469733354403e-06, + "track": 8.649165579299734e-07, + "acceleration": 9.002891601994634e-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": 1.032804084388772e-05, + "observation_loss": 5.933828106208239e-06, + "chamfer": 4.796353096025996e-06, + "track": 1.1374752375559183e-06, + "acceleration": 4.3942127376794815e-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": 7.995030500751454e-06, + "observation_loss": 6.4304167608497664e-06, + "chamfer": 5.1139163588231895e-06, + "track": 1.3165005157134146e-06, + "acceleration": 1.564613739901688e-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": 8.341738976014312e-06, + "observation_loss": 6.443871370720444e-06, + "chamfer": 5.098681867821142e-06, + "track": 1.3451893892124644e-06, + "acceleration": 1.8978679463543813e-06, + "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": 7.231569270516047e-06, + "observation_loss": 6.127621873019962e-06, + "chamfer": 4.873486432188656e-06, + "track": 1.2541353271444677e-06, + "acceleration": 1.1039473974960856e-06, + "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": 6.6358052208670415e-06, + "observation_loss": 5.881180186406709e-06, + "chamfer": 4.704029379354324e-06, + "track": 1.1771506933655473e-06, + "acceleration": 7.5462514814717e-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": 6.145038241811562e-06, + "observation_loss": 5.827826498716604e-06, + "chamfer": 4.687513410317479e-06, + "track": 1.1403128610254498e-06, + "acceleration": 3.1721162940812064e-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": 6.1869945966464e-06, + "observation_loss": 6.052886874385877e-06, + "chamfer": 4.8882129703997634e-06, + "track": 1.1646737902992754e-06, + "acceleration": 1.3410770804966887e-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": 6.4209962147288024e-06, + "observation_loss": 6.310307981038932e-06, + "chamfer": 5.101852821098873e-06, + "track": 1.2084551599400584e-06, + "acceleration": 1.1068836158756312e-07, + "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": 6.646923338848865e-06, + "observation_loss": 6.579838554898743e-06, + "chamfer": 5.3338367251853924e-06, + "track": 1.2460018297133502e-06, + "acceleration": 6.708465605242964e-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": 6.917880909895757e-06, + "observation_loss": 6.818660494900541e-06, + "chamfer": 5.540720849239733e-06, + "track": 1.277939759347646e-06, + "acceleration": 9.922054999833563e-08, + "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": 6.995352578087477e-06, + "observation_loss": 6.954150194360409e-06, + "chamfer": 5.664845502906246e-06, + "track": 1.289304577767325e-06, + "acceleration": 4.120224872394829e-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": 7.2091465881385375e-06, + "observation_loss": 7.117835139069939e-06, + "chamfer": 5.806126409879653e-06, + "track": 1.311708842877124e-06, + "acceleration": 9.131156275543617e-08, + "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": 7.192822522483766e-06, + "observation_loss": 7.014455604803516e-06, + "chamfer": 5.729378244723193e-06, + "track": 1.2850773600803223e-06, + "acceleration": 1.7836714505392592e-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": 6.95410972184618e-06, + "observation_loss": 6.723083060933277e-06, + "chamfer": 5.513685209734831e-06, + "track": 1.209397851198446e-06, + "acceleration": 2.310265330152106e-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": 6.658812708337791e-06, + "observation_loss": 6.537849913001992e-06, + "chamfer": 5.3810872486792505e-06, + "track": 1.1567628916964168e-06, + "acceleration": 1.20962567962124e-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": 6.657255653408356e-06, + "observation_loss": 6.529370693897363e-06, + "chamfer": 5.3774465413880534e-06, + "track": 1.1519240388224716e-06, + "acceleration": 1.2788511583039508e-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": 6.740040589647833e-06, + "observation_loss": 6.561992449860554e-06, + "chamfer": 5.400802820076933e-06, + "track": 1.1611898571572965e-06, + "acceleration": 1.7804804031129606e-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": 6.6121856434619986e-06, + "observation_loss": 6.458118605223717e-06, + "chamfer": 5.327403414412402e-06, + "track": 1.1307150771244778e-06, + "acceleration": 1.540669671840078e-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": 6.348819624690805e-06, + "observation_loss": 6.18661988482927e-06, + "chamfer": 5.121921276440844e-06, + "track": 1.0646987220752635e-06, + "acceleration": 1.6219961196384247e-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": 6.2136364249454346e-06, + "observation_loss": 6.0684756135742646e-06, + "chamfer": 5.022631739848293e-06, + "track": 1.0458437600391335e-06, + "acceleration": 1.4516062663005869e-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": 6.462012152042007e-06, + "observation_loss": 6.320151896943571e-06, + "chamfer": 5.201238309382461e-06, + "track": 1.1189137012479478e-06, + "acceleration": 1.4186008456817945e-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": 7.016011750238249e-06, + "observation_loss": 6.7369073804002255e-06, + "chamfer": 5.4974057093204465e-06, + "track": 1.2395015573929413e-06, + "acceleration": 2.791045119465707e-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": 7.269365141837625e-06, + "observation_loss": 6.9860179792158306e-06, + "chamfer": 5.6708840929786675e-06, + "track": 1.3151337725503254e-06, + "acceleration": 2.833473615737603e-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": 7.260894562932663e-06, + "observation_loss": 7.067623300827108e-06, + "chamfer": 5.738741037930595e-06, + "track": 1.3288822628965136e-06, + "acceleration": 1.932712336838449e-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": 7.375646873697406e-06, + "observation_loss": 6.9553011599055026e-06, + "chamfer": 5.661969225911889e-06, + "track": 1.293332047680451e-06, + "acceleration": 4.203456853701937e-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": 7.0240889726846945e-06, + "observation_loss": 6.7907349148299545e-06, + "chamfer": 5.544357463804772e-06, + "track": 1.2463776783988578e-06, + "acceleration": 2.3335421417414182e-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": 6.747625320713269e-06, + "observation_loss": 6.677641522401245e-06, + "chamfer": 5.462952231027884e-06, + "track": 1.214689291373361e-06, + "acceleration": 6.998360646548463e-08, + "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": 6.77509660818032e-06, + "observation_loss": 6.71992984280223e-06, + "chamfer": 5.500692168425303e-06, + "track": 1.2192375606900896e-06, + "acceleration": 5.5166932355632525e-08, + "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": 6.926742116775131e-06, + "observation_loss": 6.851011676189955e-06, + "chamfer": 5.608148057945073e-06, + "track": 1.2428637319317204e-06, + "acceleration": 7.573028426577366e-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": 7.246813765959814e-06, + "observation_loss": 7.136058229662012e-06, + "chamfer": 5.818402769364184e-06, + "track": 1.3176554602978285e-06, + "acceleration": 1.1075569972263111e-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": 7.464786904165521e-06, + "observation_loss": 7.376348094112473e-06, + "chamfer": 5.999199402140221e-06, + "track": 1.3771485782854143e-06, + "acceleration": 8.843896637245052e-08, + "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": 7.86255350249121e-06, + "observation_loss": 7.724556780885905e-06, + "chamfer": 6.253058018046431e-06, + "track": 1.4714992175868247e-06, + "acceleration": 1.3799694897898007e-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": 8.068164788710419e-06, + "observation_loss": 8.0176250776276e-06, + "chamfer": 6.460401891672518e-06, + "track": 1.5572229585814057e-06, + "acceleration": 5.053976082081135e-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": 8.422127393714618e-06, + "observation_loss": 8.075667210505344e-06, + "chamfer": 6.506270892714383e-06, + "track": 1.56939586304361e-06, + "acceleration": 3.4645998425730795e-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": 8.148107554006856e-06, + "observation_loss": 8.056739716266748e-06, + "chamfer": 6.512462732644053e-06, + "track": 1.5442773246832076e-06, + "acceleration": 9.136772405327065e-08, + "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": 8.391065421164967e-06, + "observation_loss": 8.222459655371495e-06, + "chamfer": 6.63523496768903e-06, + "track": 1.587224573995627e-06, + "acceleration": 1.6860619211911398e-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": 8.830639671941753e-06, + "observation_loss": 8.620310836704448e-06, + "chamfer": 6.915641733939992e-06, + "track": 1.7046692164512933e-06, + "acceleration": 2.1032913366525463e-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": 9.07901721802773e-06, + "observation_loss": 8.94106415216811e-06, + "chamfer": 7.133941835490987e-06, + "track": 1.8071219756166101e-06, + "acceleration": 1.3795339270927798e-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": 9.177505489788018e-06, + "observation_loss": 9.072957254829817e-06, + "chamfer": 7.207301678135991e-06, + "track": 1.8656551219464745e-06, + "acceleration": 1.0454823495820165e-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": 9.288118235417642e-06, + "observation_loss": 9.228132512362208e-06, + "chamfer": 7.304925020434894e-06, + "track": 1.923207264553639e-06, + "acceleration": 5.998596463996364e-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": 9.331238288723398e-06, + "observation_loss": 9.247849448001944e-06, + "chamfer": 7.314473350561457e-06, + "track": 1.9333760974404868e-06, + "acceleration": 8.338855650436017e-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": 9.285346095566638e-06, + "observation_loss": 9.208036317431834e-06, + "chamfer": 7.285558240255341e-06, + "track": 1.9224780771764927e-06, + "acceleration": 7.730958628826556e-08, + "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": 9.348867934022564e-06, + "observation_loss": 9.148227036348544e-06, + "chamfer": 7.2404000093229115e-06, + "track": 1.9078274817729834e-06, + "acceleration": 2.0064065608949022e-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": 9.56319763645297e-06, + "observation_loss": 9.430576028535143e-06, + "chamfer": 7.4272520578233525e-06, + "track": 2.003324425459141e-06, + "acceleration": 1.3262133791158703e-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": 1.0062652108899783e-05, + "observation_loss": 9.978377420338802e-06, + "chamfer": 7.774985533615109e-06, + "track": 2.203391659350018e-06, + "acceleration": 8.427471698269073e-08, + "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": 1.0669280527508818e-05, + "observation_loss": 1.041624454956036e-05, + "chamfer": 8.065807378443424e-06, + "track": 2.350437171116937e-06, + "acceleration": 2.5303600637016643e-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": 1.035705554386368e-05, + "observation_loss": 1.0233465218334459e-05, + "chamfer": 7.949037353682797e-06, + "track": 2.2844278646516614e-06, + "acceleration": 1.235903823726403e-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": 1.0035671039076988e-05, + "observation_loss": 9.881004189082887e-06, + "chamfer": 7.729833669145592e-06, + "track": 2.1511705199372955e-06, + "acceleration": 1.546671057894855e-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": 9.665477591624949e-06, + "observation_loss": 9.620043783797882e-06, + "chamfer": 7.557764547527768e-06, + "track": 2.0622794636437902e-06, + "acceleration": 4.5433434792130356e-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": 9.436003892915323e-06, + "observation_loss": 9.377647984365467e-06, + "chamfer": 7.380729584838264e-06, + "track": 1.9969186269008787e-06, + "acceleration": 5.835624605765588e-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": 9.432763363292906e-06, + "observation_loss": 9.368750397698022e-06, + "chamfer": 7.364177236013347e-06, + "track": 2.004573616432026e-06, + "acceleration": 6.401289454061043e-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": 9.51762376644183e-06, + "observation_loss": 9.427712939213961e-06, + "chamfer": 7.397992703772616e-06, + "track": 2.0297202354413457e-06, + "acceleration": 8.991101196897944e-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": 9.476217201154213e-06, + "observation_loss": 9.415311069460586e-06, + "chamfer": 7.3838145908666775e-06, + "track": 2.0314967059675837e-06, + "acceleration": 6.090650117585028e-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": 9.55877567321295e-06, + "observation_loss": 9.425581083633006e-06, + "chamfer": 7.36630227038404e-06, + "track": 2.0592785858752904e-06, + "acceleration": 1.3319457536908885e-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": 9.739580491441302e-06, + "observation_loss": 9.452311132918112e-06, + "chamfer": 7.379912858596072e-06, + "track": 2.072398501695716e-06, + "acceleration": 2.8726910272780515e-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": 1.013592554954812e-05, + "observation_loss": 9.526958820060827e-06, + "chamfer": 7.402417850244092e-06, + "track": 2.1245411971904105e-06, + "acceleration": 6.089662747399416e-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": 1.0403110536572058e-05, + "observation_loss": 9.59689623414306e-06, + "chamfer": 7.4442464210733306e-06, + "track": 2.1526495856960537e-06, + "acceleration": 8.062147003329301e-07, + "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": 9.976239198294934e-06, + "observation_loss": 9.60965917329304e-06, + "chamfer": 7.4506192504486535e-06, + "track": 2.159040150218061e-06, + "acceleration": 3.6658016711044183e-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": 9.855978532868903e-06, + "observation_loss": 9.73610167420702e-06, + "chamfer": 7.541981631220551e-06, + "track": 2.194119815612794e-06, + "acceleration": 1.1987664549906185e-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": 9.966785910364706e-06, + "observation_loss": 9.880162906483747e-06, + "chamfer": 7.632690540049225e-06, + "track": 2.247471911687171e-06, + "acceleration": 8.662284045612978e-08, + "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": 1.0165797903027851e-05, + "observation_loss": 1.0098739949171431e-05, + "chamfer": 7.766343514958862e-06, + "track": 2.3323959794652183e-06, + "acceleration": 6.7058216757232e-08, + "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": 1.0171996109420434e-05, + "observation_loss": 1.0110213224834297e-05, + "chamfer": 7.768223440507427e-06, + "track": 2.3419900117005454e-06, + "acceleration": 6.178254352562362e-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": 1.0249411388940644e-05, + "observation_loss": 1.0082387234433554e-05, + "chamfer": 7.733991878922097e-06, + "track": 2.348395582885132e-06, + "acceleration": 1.6702421135050827e-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": 1.0120620572706684e-05, + "observation_loss": 1.0024266885011457e-05, + "chamfer": 7.652584827155806e-06, + "track": 2.3716820578556508e-06, + "acceleration": 9.635407138830487e-08, + "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": 1.0013694009103347e-05, + "observation_loss": 9.940145901055075e-06, + "chamfer": 7.570329671580112e-06, + "track": 2.3698157747276127e-06, + "acceleration": 7.354768172262993e-08, + "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": 1.002092358248774e-05, + "observation_loss": 9.805254194361623e-06, + "chamfer": 7.4855856837530155e-06, + "track": 2.319668510608608e-06, + "acceleration": 2.1566950181295397e-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": 1.0161078535020351e-05, + "observation_loss": 9.624816811992787e-06, + "chamfer": 7.386747711279895e-06, + "track": 2.2380691007128917e-06, + "acceleration": 5.362616093407269e-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": 9.87696330412291e-06, + "observation_loss": 9.578198842064012e-06, + "chamfer": 7.357125468843151e-06, + "track": 2.2210731458471855e-06, + "acceleration": 2.987644904806075e-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": 9.769461939868052e-06, + "observation_loss": 9.580792720953468e-06, + "chamfer": 7.370069397438783e-06, + "track": 2.2107235508883605e-06, + "acceleration": 1.8866924733629276e-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": 9.79702417680528e-06, + "observation_loss": 9.657465852797031e-06, + "chamfer": 7.428147000609897e-06, + "track": 2.2293183974397834e-06, + "acceleration": 1.395582813756846e-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": 9.841971404966898e-06, + "observation_loss": 9.781198968994431e-06, + "chamfer": 7.511895091738552e-06, + "track": 2.2693034225085285e-06, + "acceleration": 6.077198833054354e-08, + "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": 9.967215191863943e-06, + "observation_loss": 9.933636647474486e-06, + "chamfer": 7.604481197631685e-06, + "track": 2.329155222469126e-06, + "acceleration": 3.357865807629423e-08, + "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": 1.0107210982823744e-05, + "observation_loss": 1.0060363820230123e-05, + "chamfer": 7.654641194676515e-06, + "track": 2.4057228529272834e-06, + "acceleration": 4.6846967194369427e-08, + "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": 1.033987064147368e-05, + "observation_loss": 1.0233114153379574e-05, + "chamfer": 7.733792699582409e-06, + "track": 2.499321908544516e-06, + "acceleration": 1.0675633888013181e-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": 1.0973128155455925e-05, + "observation_loss": 1.059584246831946e-05, + "chamfer": 7.916757567727473e-06, + "track": 2.6790851279656636e-06, + "acceleration": 3.7728543134107895e-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": 1.1993866792181507e-05, + "observation_loss": 1.097781478165416e-05, + "chamfer": 8.112344403343741e-06, + "track": 2.865470150936744e-06, + "acceleration": 1.0160518968405086e-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": 1.1646860912151169e-05, + "observation_loss": 1.1318469660182018e-05, + "chamfer": 8.300504305225331e-06, + "track": 3.017965582330362e-06, + "acceleration": 3.283911382823135e-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": 1.1588752386160195e-05, + "observation_loss": 1.1503010682645254e-05, + "chamfer": 8.388698006456252e-06, + "track": 3.1143131309363525e-06, + "acceleration": 8.574164667152218e-08, + "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": 1.194919241243042e-05, + "observation_loss": 1.1772794096032158e-05, + "chamfer": 8.553802217647899e-06, + "track": 3.2189914236369077e-06, + "acceleration": 1.7639860061535728e-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": 1.2322438124101609e-05, + "observation_loss": 1.2115933714085259e-05, + "chamfer": 8.749439075472765e-06, + "track": 3.366494638612494e-06, + "acceleration": 2.0650419685352972e-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": 1.2416902791301254e-05, + "observation_loss": 1.234424053109251e-05, + "chamfer": 8.867461474437732e-06, + "track": 3.4767795114021283e-06, + "acceleration": 7.266264390182187e-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": 1.2535426321846899e-05, + "observation_loss": 1.2451592738216277e-05, + "chamfer": 8.91759009391535e-06, + "track": 3.534002871674602e-06, + "acceleration": 8.383344862750164e-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": 1.2589243851834908e-05, + "observation_loss": 1.2523471013992094e-05, + "chamfer": 8.95842367754085e-06, + "track": 3.5650473364512436e-06, + "acceleration": 6.57726246799939e-08, + "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": 1.2603341019712389e-05, + "observation_loss": 1.2550845895020757e-05, + "chamfer": 8.950466508395039e-06, + "track": 3.6003796139993938e-06, + "acceleration": 5.2495213509473615e-08, + "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": 1.2622287613339722e-05, + "observation_loss": 1.2570615581353195e-05, + "chamfer": 8.936930498748552e-06, + "track": 3.6336848552309675e-06, + "acceleration": 5.16722913346257e-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": 1.2682554370258003e-05, + "observation_loss": 1.2557323316286784e-05, + "chamfer": 8.937808161135763e-06, + "track": 3.6195151551510207e-06, + "acceleration": 1.2523112502549338e-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": 1.2637740837817546e-05, + "observation_loss": 1.2519987649284303e-05, + "chamfer": 8.916622391552664e-06, + "track": 3.6033654851053143e-06, + "acceleration": 1.1775312458439657e-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": 1.250215427717194e-05, + "observation_loss": 1.2488875654526055e-05, + "chamfer": 8.885946044756565e-06, + "track": 3.6029291550221387e-06, + "acceleration": 1.3278211419276431e-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": 1.2497996976890136e-05, + "observation_loss": 1.2446186701708939e-05, + "chamfer": 8.848866855259985e-06, + "track": 3.5973196190752788e-06, + "acceleration": 5.181036755175228e-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": 1.2510206943261437e-05, + "observation_loss": 1.2400322702887934e-05, + "chamfer": 8.810998224362265e-06, + "track": 3.589324705899344e-06, + "acceleration": 1.0988381404786196e-07, + "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": 1.2409295777615625e-05, + "observation_loss": 1.230105226568412e-05, + "chamfer": 8.758843250689097e-06, + "track": 3.5422094697423745e-06, + "acceleration": 1.0824395246800123e-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": 1.2147000234108418e-05, + "observation_loss": 1.2097510989406146e-05, + "chamfer": 8.64816229295684e-06, + "track": 3.4493484690756304e-06, + "acceleration": 4.948926246584051e-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": 9.847604620934666e-06, + "chamfer_mean": 6.7970817951845675e-06, + "track_mean": 1.988885318956098e-06, + "acceleration_mean": 1.061637498476579e-06, + "observation_score": 8.785967108811596e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.435581544001252 + }, + "score_arrays_file": "pass_scores/pass_end_0107.npz", + "score_arrays_sha256": "1f4e047e7371a31d143f3a9b0c4ba60d025c68ce72a47b7389a54f84703342fa" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0108.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0108.json new file mode 100644 index 0000000000000000000000000000000000000000..6893ac90c5f33e0d5d472a353cd35583ea5ad350 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0108.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10368, + "completed_passes": 108, + "snapshot": "pass_end_0108", + "candidate": true, + "snapshot_arrays_sha256": "92d566c525cd095ab1bfe24237d1746e70eff8ab11552db578bae8bcb8fff4bd", + "score": 8.77588651349015e-06, + "score_result": { + "score": 8.77588651349015e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9880452530051116e-06, + 3.392961843928788e-06, + 3.903359356627334e-06, + 4.9833311095426325e-06, + 5.919612704019528e-06, + 6.413452865672298e-06, + 6.433537237171549e-06, + 6.126305379439145e-06, + 5.881714969291352e-06, + 5.82405391469365e-06, + 6.044454494258389e-06, + 6.299525011854712e-06, + 6.5645826907712035e-06, + 6.802656571380794e-06, + 6.9363641159725375e-06, + 7.099748017935781e-06, + 6.995561307121534e-06, + 6.70549434289569e-06, + 6.518081590911606e-06, + 6.509702870971523e-06, + 6.541334187204484e-06, + 6.436845978896599e-06, + 6.165549166325945e-06, + 6.04747128818417e-06, + 6.296621904766653e-06, + 6.7115979618392885e-06, + 6.962199222471099e-06, + 7.044963240332436e-06, + 6.9350303419923875e-06, + 6.772055257897591e-06, + 6.659385689999908e-06, + 6.703553026454756e-06, + 6.836061402282212e-06, + 7.120790087355999e-06, + 7.361848929576809e-06, + 7.710435056651477e-06, + 8.004399205674417e-06, + 8.063047062023543e-06, + 8.043304660532158e-06, + 8.206820893974509e-06, + 8.602600246376824e-06, + 8.924267604015768e-06, + 9.057431270775851e-06, + 9.212280929205008e-06, + 9.232424417859875e-06, + 9.193618097924627e-06, + 9.134650099440478e-06, + 9.41813505050959e-06, + 9.967705409508198e-06, + 1.0406110050098505e-05, + 1.0223773642792366e-05, + 9.871851943898946e-06, + 9.611158020561561e-06, + 9.367455277242698e-06, + 9.357620001537725e-06, + 9.416542525286786e-06, + 9.4045453806757e-06, + 9.414412488695234e-06, + 9.441736438020598e-06, + 9.516455975244753e-06, + 9.5870163931977e-06, + 9.600637895346154e-06, + 9.729544217407238e-06, + 9.875919204205275e-06, + 1.0096186088048853e-05, + 1.0109767572430428e-05, + 1.0082762855745386e-05, + 1.0025189112639055e-05, + 9.942098586179782e-06, + 9.80651475401828e-06, + 9.624992344470229e-06, + 9.577657692716457e-06, + 9.57907013798831e-06, + 9.65424897003686e-06, + 9.776900697033852e-06, + 9.928211511578411e-06, + 1.0053732694359496e-05, + 1.022684864437906e-05, + 1.0591478712740354e-05, + 1.097477252187673e-05, + 1.131605495174881e-05, + 1.1500865184643771e-05, + 1.176844489236828e-05, + 1.2111246178392321e-05, + 1.234085539181251e-05, + 1.2447955668903887e-05, + 1.2519049960246775e-05, + 1.2545874596980866e-05, + 1.25660008052364e-05, + 1.2552134649013169e-05, + 1.2515021808212623e-05, + 1.248502576345345e-05, + 1.2442581464711111e-05, + 1.2396687452564947e-05, + 1.2297699868213385e-05, + 1.2095420970581472e-05 + ] + ], + "episode_mean_losses": [ + 8.77588651349015e-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": 2.9880452530051116e-06, + "observation_loss": 2.9880452530051116e-06, + "chamfer": 2.5337349143228494e-06, + "track": 4.5431045236909995e-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": 4.686381362262182e-05, + "observation_loss": 3.392961843928788e-06, + "chamfer": 2.86922818304447e-06, + "track": 5.237336040408991e-07, + "acceleration": 4.347085268818773e-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": 2.9092174372635782e-05, + "observation_loss": 3.903359356627334e-06, + "chamfer": 3.287467507107067e-06, + "track": 6.158916221465915e-07, + "acceleration": 2.5188814106513746e-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": 1.3962357115815394e-05, + "observation_loss": 4.9833311095426325e-06, + "chamfer": 4.121493020647904e-06, + "track": 8.618380320513097e-07, + "acceleration": 8.979026461020112e-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": 1.0312362064723857e-05, + "observation_loss": 5.919612704019528e-06, + "chamfer": 4.78686979477061e-06, + "track": 1.132743022935756e-06, + "acceleration": 4.39274981545168e-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": 7.98913879407337e-06, + "observation_loss": 6.413452865672298e-06, + "chamfer": 5.103245257487288e-06, + "track": 1.31020760818501e-06, + "acceleration": 1.5756855873405584e-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": 8.333908226632047e-06, + "observation_loss": 6.433537237171549e-06, + "chamfer": 5.092261744721327e-06, + "track": 1.3412754924502224e-06, + "acceleration": 1.9003708757736604e-06, + "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": 7.240462764457334e-06, + "observation_loss": 6.126305379439145e-06, + "chamfer": 4.872710178460693e-06, + "track": 1.253594973604777e-06, + "acceleration": 1.1141574987050262e-06, + "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": 6.654869594058255e-06, + "observation_loss": 5.881714969291352e-06, + "chamfer": 4.704189905169187e-06, + "track": 1.1775248367484892e-06, + "acceleration": 7.731547952971596e-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": 6.15991393715376e-06, + "observation_loss": 5.82405391469365e-06, + "chamfer": 4.684721261583036e-06, + "track": 1.139332653110614e-06, + "acceleration": 3.3585990877327276e-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": 6.185824531712569e-06, + "observation_loss": 6.044454494258389e-06, + "chamfer": 4.8823967517819256e-06, + "track": 1.1620575151027879e-06, + "acceleration": 1.413698242913597e-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": 6.415800726244925e-06, + "observation_loss": 6.299525011854712e-06, + "chamfer": 5.0947110139532015e-06, + "track": 1.2048138842146727e-06, + "acceleration": 1.1627585649875982e-07, + "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": 6.631068117712857e-06, + "observation_loss": 6.5645826907712035e-06, + "chamfer": 5.323477580532199e-06, + "track": 1.2411048828653293e-06, + "acceleration": 6.648544115250843e-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": 6.8967797233199235e-06, + "observation_loss": 6.802656571380794e-06, + "chamfer": 5.529795998882037e-06, + "track": 1.272860345125082e-06, + "acceleration": 9.41232798368219e-08, + "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": 6.978926194278756e-06, + "observation_loss": 6.9363641159725375e-06, + "chamfer": 5.65216623726883e-06, + "track": 1.2841976513300324e-06, + "acceleration": 4.256205343722286e-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": 7.195776106527774e-06, + "observation_loss": 7.099748017935781e-06, + "chamfer": 5.792935098725138e-06, + "track": 1.3068130328974803e-06, + "acceleration": 9.602801753771928e-08, + "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": 7.176469807745889e-06, + "observation_loss": 6.995561307121534e-06, + "chamfer": 5.7152706176566426e-06, + "track": 1.2802905757780536e-06, + "acceleration": 1.8090848641350021e-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": 6.935701549082296e-06, + "observation_loss": 6.70549434289569e-06, + "chamfer": 5.5004175010253675e-06, + "track": 1.2050766144966474e-06, + "acceleration": 2.3020741934942635e-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": 6.638896593358368e-06, + "observation_loss": 6.518081590911606e-06, + "chamfer": 5.3658791330235545e-06, + "track": 1.1522025715748896e-06, + "acceleration": 1.208150450793255e-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": 6.632549684582045e-06, + "observation_loss": 6.509702870971523e-06, + "chamfer": 5.362543106457451e-06, + "track": 1.1471597645140719e-06, + "acceleration": 1.2284681361052208e-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": 6.707427473884309e-06, + "observation_loss": 6.541334187204484e-06, + "chamfer": 5.385225449572317e-06, + "track": 1.1561085102584912e-06, + "acceleration": 1.6609348563179083e-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": 6.585275514225941e-06, + "observation_loss": 6.436845978896599e-06, + "chamfer": 5.311175755196018e-06, + "track": 1.1256704510742566e-06, + "acceleration": 1.4842940743164945e-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": 6.3248080550692976e-06, + "observation_loss": 6.165549166325945e-06, + "chamfer": 5.1055853873549495e-06, + "track": 1.059963778970996e-06, + "acceleration": 1.5925880347822385e-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": 6.193957233335823e-06, + "observation_loss": 6.04747128818417e-06, + "chamfer": 5.006350875191856e-06, + "track": 1.041120640365989e-06, + "acceleration": 1.4648584567567013e-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": 6.441148798330687e-06, + "observation_loss": 6.296621904766653e-06, + "chamfer": 5.183021130505949e-06, + "track": 1.1136008879475412e-06, + "acceleration": 1.4452692198574368e-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": 6.988927452766802e-06, + "observation_loss": 6.7115979618392885e-06, + "chamfer": 5.47814488527365e-06, + "track": 1.2334528491919627e-06, + "acceleration": 2.773292919755477e-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": 7.245007964229444e-06, + "observation_loss": 6.962199222471099e-06, + "chamfer": 5.65285381526337e-06, + "track": 1.3093451798340539e-06, + "acceleration": 2.8280871333663526e-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": 7.238205853354884e-06, + "observation_loss": 7.044963240332436e-06, + "chamfer": 5.721485649701208e-06, + "track": 1.3234774769443902e-06, + "acceleration": 1.9324268407672207e-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": 7.357883077929728e-06, + "observation_loss": 6.9350303419923875e-06, + "chamfer": 5.6463954933860805e-06, + "track": 1.2886349622931448e-06, + "acceleration": 4.228529348893062e-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": 7.006596661085496e-06, + "observation_loss": 6.772055257897591e-06, + "chamfer": 5.529831469175406e-06, + "track": 1.2422239024090231e-06, + "acceleration": 2.345412184467932e-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": 6.7284204305906314e-06, + "observation_loss": 6.659385689999908e-06, + "chamfer": 5.4487331908603664e-06, + "track": 1.210652385452704e-06, + "acceleration": 6.903465532559494e-08, + "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": 6.758191375411116e-06, + "observation_loss": 6.703553026454756e-06, + "chamfer": 5.487986072694184e-06, + "track": 1.2155670674474095e-06, + "acceleration": 5.463818197881665e-08, + "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": 6.911149739607936e-06, + "observation_loss": 6.836061402282212e-06, + "chamfer": 5.596455139311729e-06, + "track": 1.2396061492836452e-06, + "acceleration": 7.508849364512571e-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": 7.231415565911448e-06, + "observation_loss": 7.120790087355999e-06, + "chamfer": 5.8064279073732905e-06, + "track": 1.314362066295871e-06, + "acceleration": 1.10625570926004e-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": 7.450709290424129e-06, + "observation_loss": 7.361848929576809e-06, + "chamfer": 5.988009434076957e-06, + "track": 1.373839609186689e-06, + "acceleration": 8.886025426591004e-08, + "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": 7.848972018109635e-06, + "observation_loss": 7.710435056651477e-06, + "chamfer": 6.242321433092002e-06, + "track": 1.4681135098726372e-06, + "acceleration": 1.3853731672952563e-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": 8.054903446463868e-06, + "observation_loss": 8.004399205674417e-06, + "chamfer": 6.450588443840388e-06, + "track": 1.5538107618340291e-06, + "acceleration": 5.050418749874552e-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": 8.409290785493795e-06, + "observation_loss": 8.063047062023543e-06, + "chamfer": 6.497126378235407e-06, + "track": 1.5659206837881356e-06, + "acceleration": 3.4624349609657656e-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": 8.135975804179907e-06, + "observation_loss": 8.043304660532158e-06, + "chamfer": 6.5028684730350506e-06, + "track": 1.540436301183945e-06, + "acceleration": 9.267077416552638e-08, + "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": 8.377533049497288e-06, + "observation_loss": 8.206820893974509e-06, + "chamfer": 6.623986337217502e-06, + "track": 1.5828343293833314e-06, + "acceleration": 1.707123260530352e-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": 8.812701707938686e-06, + "observation_loss": 8.602600246376824e-06, + "chamfer": 6.902942459419137e-06, + "track": 1.699657673270849e-06, + "acceleration": 2.1010151840528124e-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": 9.060644515557215e-06, + "observation_loss": 8.924267604015768e-06, + "chamfer": 7.122008810256375e-06, + "track": 1.8022591348199057e-06, + "acceleration": 1.3637681206546404e-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": 9.160922672890592e-06, + "observation_loss": 9.057431270775851e-06, + "chamfer": 7.196206297521712e-06, + "track": 1.8612247458804632e-06, + "acceleration": 1.0349153001243394e-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": 9.272507668356411e-06, + "observation_loss": 9.212280929205008e-06, + "chamfer": 7.293649105122313e-06, + "track": 1.9186320514563704e-06, + "acceleration": 6.022717258247212e-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": 9.316405339632183e-06, + "observation_loss": 9.232424417859875e-06, + "chamfer": 7.303446182049811e-06, + "track": 1.9289780084363883e-06, + "acceleration": 8.398136941423218e-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": 9.271202543459367e-06, + "observation_loss": 9.193618097924627e-06, + "chamfer": 7.275326879607746e-06, + "track": 1.9182909909432055e-06, + "acceleration": 7.75843176370472e-08, + "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": 9.334816240880173e-06, + "observation_loss": 9.134650099440478e-06, + "chamfer": 7.230731625895714e-06, + "track": 1.9039184735447634e-06, + "acceleration": 2.0016615565054963e-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": 9.551196853863075e-06, + "observation_loss": 9.41813505050959e-06, + "chamfer": 7.4183244578307495e-06, + "track": 1.999810592678841e-06, + "acceleration": 1.3306134860613383e-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": 1.0052342076960485e-05, + "observation_loss": 9.967705409508198e-06, + "chamfer": 7.767529496049974e-06, + "track": 2.2001763682055753e-06, + "acceleration": 8.463623402121812e-08, + "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": 1.0659841791493818e-05, + "observation_loss": 1.0406110050098505e-05, + "chamfer": 8.058720595727209e-06, + "track": 2.3473892269976204e-06, + "acceleration": 2.5373162770847557e-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": 1.0347804163757246e-05, + "observation_loss": 1.0223773642792366e-05, + "chamfer": 7.942252523207571e-06, + "track": 2.281521119584795e-06, + "acceleration": 1.2403054938658897e-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": 1.002687440632144e-05, + "observation_loss": 9.871851943898946e-06, + "chamfer": 7.723388989688829e-06, + "track": 2.1484634089574683e-06, + "acceleration": 1.550225192659127e-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": 9.656671863922384e-06, + "observation_loss": 9.611158020561561e-06, + "chamfer": 7.551680937467609e-06, + "track": 2.059476855720277e-06, + "acceleration": 4.5513999680224515e-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": 9.425680218555499e-06, + "observation_loss": 9.367455277242698e-06, + "chamfer": 7.373643711616751e-06, + "track": 1.993811565625947e-06, + "acceleration": 5.822483473139073e-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": 9.421923095942475e-06, + "observation_loss": 9.357620001537725e-06, + "chamfer": 7.3566102400945965e-06, + "track": 2.0010099888168043e-06, + "acceleration": 6.430354915210046e-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": 9.506641617917921e-06, + "observation_loss": 9.416542525286786e-06, + "chamfer": 7.390408427454531e-06, + "track": 2.0261338704585796e-06, + "acceleration": 9.00991992125455e-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": 9.465656148677226e-06, + "observation_loss": 9.4045453806757e-06, + "chamfer": 7.376633675448829e-06, + "track": 2.0279119326005457e-06, + "acceleration": 6.111118011631334e-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": 9.549823516863398e-06, + "observation_loss": 9.414412488695234e-06, + "chamfer": 7.3589335443102755e-06, + "track": 2.0554784896376077e-06, + "acceleration": 1.3541142607209622e-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": 9.730793863127474e-06, + "observation_loss": 9.441736438020598e-06, + "chamfer": 7.3731121119635645e-06, + "track": 2.0686243260570336e-06, + "acceleration": 2.890577945890982e-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": 1.0126903362106532e-05, + "observation_loss": 9.516455975244753e-06, + "chamfer": 7.395767170237377e-06, + "track": 2.1206885776337003e-06, + "acceleration": 6.104475005486165e-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": 1.039775634126272e-05, + "observation_loss": 9.5870163931977e-06, + "chamfer": 7.438220109179383e-06, + "track": 2.148796738765668e-06, + "acceleration": 8.107400617518579e-07, + "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": 9.971196959668305e-06, + "observation_loss": 9.600637895346154e-06, + "chamfer": 7.445150004059542e-06, + "track": 2.155487663912936e-06, + "acceleration": 3.705592916958267e-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": 9.84940015769098e-06, + "observation_loss": 9.729544217407238e-06, + "chamfer": 7.5381194619694725e-06, + "track": 2.1914247554377653e-06, + "acceleration": 1.1985601133801538e-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": 9.961414434656035e-06, + "observation_loss": 9.875919204205275e-06, + "chamfer": 7.630166692251805e-06, + "track": 2.2457520572061185e-06, + "acceleration": 8.549523045076057e-08, + "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": 1.016215537674725e-05, + "observation_loss": 1.0096186088048853e-05, + "chamfer": 7.764740075799637e-06, + "track": 2.331445784875541e-06, + "acceleration": 6.596969370775696e-08, + "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": 1.0171129360969644e-05, + "observation_loss": 1.0109767572430428e-05, + "chamfer": 7.76797332946444e-06, + "track": 2.3417944703396643e-06, + "acceleration": 6.136190222605364e-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": 1.0250916602672078e-05, + "observation_loss": 1.0082762855745386e-05, + "chamfer": 7.734222890576348e-06, + "track": 2.3485399651690386e-06, + "acceleration": 1.681541448306234e-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": 1.012238317343872e-05, + "observation_loss": 1.0025189112639055e-05, + "chamfer": 7.653178727196064e-06, + "track": 2.3720101580693154e-06, + "acceleration": 9.719412474851197e-08, + "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": 1.001608598016901e-05, + "observation_loss": 9.942098586179782e-06, + "chamfer": 7.571650712634437e-06, + "track": 2.3704476461716695e-06, + "acceleration": 7.39874295163645e-08, + "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": 1.0023891263699625e-05, + "observation_loss": 9.80651475401828e-06, + "chamfer": 7.486319645977346e-06, + "track": 2.3201951080409344e-06, + "acceleration": 2.1737615440997615e-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": 1.0163758815906476e-05, + "observation_loss": 9.624992344470229e-06, + "chamfer": 7.386783636320615e-06, + "track": 2.2382089355232893e-06, + "acceleration": 5.387664714362472e-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": 9.878128366835881e-06, + "observation_loss": 9.577657692716457e-06, + "chamfer": 7.3566102400945965e-06, + "track": 2.2210469978745095e-06, + "acceleration": 3.0047056043258635e-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": 9.770105862116907e-06, + "observation_loss": 9.57907013798831e-06, + "chamfer": 7.36863148631528e-06, + "track": 2.2104388790467056e-06, + "acceleration": 1.910355393874852e-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": 9.800151019589975e-06, + "observation_loss": 9.65424897003686e-06, + "chamfer": 7.425751391565427e-06, + "track": 2.2284975784714334e-06, + "acceleration": 1.4590168007089233e-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": 9.839076483331155e-06, + "observation_loss": 9.776900697033852e-06, + "chamfer": 7.508961516577983e-06, + "track": 2.267938725708518e-06, + "acceleration": 6.217553050191782e-08, + "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": 9.96201742964331e-06, + "observation_loss": 9.928211511578411e-06, + "chamfer": 7.601078323205002e-06, + "track": 2.3271334157470847e-06, + "acceleration": 3.3806063726160573e-08, + "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": 1.0101801308337599e-05, + "observation_loss": 1.0053732694359496e-05, + "chamfer": 7.650413863302674e-06, + "track": 2.4033186036831466e-06, + "acceleration": 4.806857134553866e-08, + "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": 1.0334484613849781e-05, + "observation_loss": 1.022684864437906e-05, + "chamfer": 7.72998646425549e-06, + "track": 2.4968624074972467e-06, + "acceleration": 1.0763557867221607e-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": 1.0927546099992469e-05, + "observation_loss": 1.0591478712740354e-05, + "chamfer": 7.914105481177103e-06, + "track": 2.6773736863106024e-06, + "acceleration": 3.360670177698921e-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": 1.1816078767878935e-05, + "observation_loss": 1.097477252187673e-05, + "chamfer": 8.110429916996509e-06, + "track": 2.864342604880221e-06, + "acceleration": 8.413066439061367e-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": 1.160332885774551e-05, + "observation_loss": 1.131605495174881e-05, + "chamfer": 8.299151886603795e-06, + "track": 3.0169030651450157e-06, + "acceleration": 2.8727416179208376e-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": 1.158656959887594e-05, + "observation_loss": 1.1500865184643771e-05, + "chamfer": 8.387381967622787e-06, + "track": 3.11348344439466e-06, + "acceleration": 8.570430765075798e-08, + "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": 1.1947605344175827e-05, + "observation_loss": 1.176844489236828e-05, + "chamfer": 8.551243809051812e-06, + "track": 3.217200628569117e-06, + "acceleration": 1.791601107470342e-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": 1.2317969776631799e-05, + "observation_loss": 1.2111246178392321e-05, + "chamfer": 8.747007996134926e-06, + "track": 3.364238637004746e-06, + "acceleration": 2.0672368350460602e-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": 1.2413782314979471e-05, + "observation_loss": 1.234085539181251e-05, + "chamfer": 8.866059033607598e-06, + "track": 3.4747959034575615e-06, + "acceleration": 7.292690895610576e-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": 1.2530915228126105e-05, + "observation_loss": 1.2447955668903887e-05, + "chamfer": 8.91604031494353e-06, + "track": 3.5319158087077085e-06, + "acceleration": 8.29592323725592e-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": 1.2584640899149235e-05, + "observation_loss": 1.2519049960246775e-05, + "chamfer": 8.956399142334703e-06, + "track": 3.5626510452857474e-06, + "acceleration": 6.55909460078874e-08, + "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": 1.259833970834734e-05, + "observation_loss": 1.2545874596980866e-05, + "chamfer": 8.94817458174657e-06, + "track": 3.59769978786062e-06, + "acceleration": 5.2465125577327854e-08, + "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": 1.2617791071534157e-05, + "observation_loss": 1.25660008052364e-05, + "chamfer": 8.934822290029842e-06, + "track": 3.631178060459206e-06, + "acceleration": 5.179024498147555e-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": 1.2678266102739144e-05, + "observation_loss": 1.2552134649013169e-05, + "chamfer": 8.935245205066167e-06, + "track": 3.616889216573327e-06, + "acceleration": 1.2613170952135988e-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": 1.2633334335987456e-05, + "observation_loss": 1.2515021808212623e-05, + "chamfer": 8.914155841921456e-06, + "track": 3.6008661936648423e-06, + "acceleration": 1.1831222224145677e-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": 1.2498539035732392e-05, + "observation_loss": 1.248502576345345e-05, + "chamfer": 8.883948794391472e-06, + "track": 3.6010767416883027e-06, + "acceleration": 1.3513688834621007e-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": 1.2496042472776026e-05, + "observation_loss": 1.2442581464711111e-05, + "chamfer": 8.847023309499491e-06, + "track": 3.59555815521162e-06, + "acceleration": 5.346111819903854e-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": 1.2508010513556655e-05, + "observation_loss": 1.2396687452564947e-05, + "chamfer": 8.809124665276613e-06, + "track": 3.5875627872883342e-06, + "acceleration": 1.1132311072969969e-07, + "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": 1.2406408131937496e-05, + "observation_loss": 1.2297699868213385e-05, + "chamfer": 8.757107025303412e-06, + "track": 3.5405926155362977e-06, + "acceleration": 1.087082495132563e-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": 1.2144864740548655e-05, + "observation_loss": 1.2095420970581472e-05, + "chamfer": 8.647160939290188e-06, + "track": 3.4482604860386346e-06, + "acceleration": 4.944335074696937e-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": 9.834561235303832e-06, + "chamfer_mean": 6.789936932705132e-06, + "track_mean": 1.985949549994833e-06, + "acceleration_mean": 1.0586747401046075e-06, + "observation_score": 8.77588651349015e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4162940389996947 + }, + "score_arrays_file": "pass_scores/pass_end_0108.npz", + "score_arrays_sha256": "7ac61f4b8bdddaa784e178b2ef9c5e9d676e95ed1e2e620d46017623298e9dd1" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0109.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0109.json new file mode 100644 index 0000000000000000000000000000000000000000..b7aec4d198339fa79baab90099f332a6db976d02 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0109.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10464, + "completed_passes": 109, + "snapshot": "pass_end_0109", + "candidate": true, + "snapshot_arrays_sha256": "5f0b50d46bc45d9a29adc973f955c89701e5e155086f8016f7d3ce5469169704", + "score": 8.766281591003159e-06, + "score_result": { + "score": 8.766281591003159e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.98625400318997e-06, + 3.390821802895516e-06, + 3.897166152455611e-06, + 4.9711070460034534e-06, + 5.9052472352050245e-06, + 6.396393928298494e-06, + 6.42280565443798e-06, + 6.124277206254192e-06, + 5.881580364075489e-06, + 5.820184924232308e-06, + 6.035681053617736e-06, + 6.287665200943593e-06, + 6.548599230882246e-06, + 6.786297944927355e-06, + 6.918330200278433e-06, + 7.081629973981762e-06, + 6.976868917263346e-06, + 6.687987024633912e-06, + 6.499042683572043e-06, + 6.490255600510864e-06, + 6.521182513097301e-06, + 6.4158907662204e-06, + 6.144515282358043e-06, + 6.027057224855525e-06, + 6.273286544455914e-06, + 6.687314453301951e-06, + 6.939582362974761e-06, + 7.02380475559039e-06, + 6.916036909387913e-06, + 6.753947673132643e-06, + 6.6425100158085115e-06, + 6.687955647066701e-06, + 6.8214035309210885e-06, + 7.1064741860027425e-06, + 7.3480109676893335e-06, + 7.696872671658639e-06, + 7.991367056092713e-06, + 8.050074939092156e-06, + 8.029074706428219e-06, + 8.19087745185243e-06, + 8.584577699366491e-06, + 8.9071500042337e-06, + 9.041224075190257e-06, + 9.195371603709646e-06, + 9.215447789756581e-06, + 9.177494575851597e-06, + 9.119387868850026e-06, + 9.404110642208252e-06, + 9.956663234333973e-06, + 1.0396060133643914e-05, + 1.0213743735221215e-05, + 9.861853868642356e-06, + 9.601362762623467e-06, + 9.356602276966441e-06, + 9.345790203951765e-06, + 9.404277079738677e-06, + 9.393235814059153e-06, + 9.403182048117742e-06, + 9.43120539886877e-06, + 9.506089554633945e-06, + 9.577694072504528e-06, + 9.592335118213668e-06, + 9.723150469653774e-06, + 9.872379450825974e-06, + 1.0094752724398859e-05, + 1.0110934454132803e-05, + 1.0084939276566729e-05, + 1.0028760698332917e-05, + 9.946679710992612e-06, + 9.810582923819311e-06, + 9.627903637010604e-06, + 9.579724064678885e-06, + 9.580278856446967e-06, + 9.65370963967871e-06, + 9.77514537225943e-06, + 9.9255385066499e-06, + 1.0049811862700153e-05, + 1.0223162462352775e-05, + 1.0588597433525138e-05, + 1.097217136702966e-05, + 1.1314121366012841e-05, + 1.1499214451760054e-05, + 1.1764974260586314e-05, + 1.2107384463888593e-05, + 1.2337914085946977e-05, + 1.2445409993233625e-05, + 1.251574394700583e-05, + 1.254249582416378e-05, + 1.2562366464408115e-05, + 1.2548298400361091e-05, + 1.2511152817751281e-05, + 1.248143962584436e-05, + 1.2439937563613057e-05, + 1.2394377336022444e-05, + 1.2295370652282145e-05, + 1.2094313206034712e-05 + ] + ], + "episode_mean_losses": [ + 8.766281591003159e-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": 2.98625400318997e-06, + "observation_loss": 2.98625400318997e-06, + "chamfer": 2.5322417513962137e-06, + "track": 4.5401213810691843e-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": 4.674690353567712e-05, + "observation_loss": 3.390821802895516e-06, + "chamfer": 2.867463081202004e-06, + "track": 5.23358721693512e-07, + "acceleration": 4.3356081732781604e-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": 2.892638076446019e-05, + "observation_loss": 3.897166152455611e-06, + "chamfer": 3.2824959816935007e-06, + "track": 6.146701707621105e-07, + "acceleration": 2.502921415725723e-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": 1.3888018656871282e-05, + "observation_loss": 4.9711070460034534e-06, + "chamfer": 4.1123785194940865e-06, + "track": 8.587283559791103e-07, + "acceleration": 8.916911610867828e-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": 1.0294970707036555e-05, + "observation_loss": 5.9052472352050245e-06, + "chamfer": 4.777275080414256e-06, + "track": 1.1279721547907684e-06, + "acceleration": 4.38972347183153e-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": 7.982789611560293e-06, + "observation_loss": 6.396393928298494e-06, + "chamfer": 5.092500487080542e-06, + "track": 1.3038933275311138e-06, + "acceleration": 1.5863959106354741e-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": 8.320103916048538e-06, + "observation_loss": 6.42280565443798e-06, + "chamfer": 5.085601515020244e-06, + "track": 1.3372041394177359e-06, + "acceleration": 1.8972982616105583e-06, + "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": 7.233921223814832e-06, + "observation_loss": 6.124277206254192e-06, + "chamfer": 4.871451437793439e-06, + "track": 1.2528259958344279e-06, + "acceleration": 1.1096440175606403e-06, + "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": 6.6582015278982e-06, + "observation_loss": 5.881580364075489e-06, + "chamfer": 4.70386839879211e-06, + "track": 1.1777117379097035e-06, + "acceleration": 7.76621391196386e-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": 6.172380381030962e-06, + "observation_loss": 5.820184924232308e-06, + "chamfer": 4.681879090639995e-06, + "track": 1.1383059472791501e-06, + "acceleration": 3.5219534311181633e-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": 6.186431164678652e-06, + "observation_loss": 6.035681053617736e-06, + "chamfer": 4.8763527047412936e-06, + "track": 1.159328235189605e-06, + "acceleration": 1.507501963260438e-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": 6.410354671970708e-06, + "observation_loss": 6.287665200943593e-06, + "chamfer": 5.086803412268637e-06, + "track": 1.2008617886749562e-06, + "acceleration": 1.2268965576822666e-07, + "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": 6.6122702264692634e-06, + "observation_loss": 6.548599230882246e-06, + "chamfer": 5.312615485308925e-06, + "track": 1.235983859260159e-06, + "acceleration": 6.367108795757304e-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": 6.874086011521285e-06, + "observation_loss": 6.786297944927355e-06, + "chamfer": 5.518646503333002e-06, + "track": 1.2676515552811907e-06, + "acceleration": 8.778788185281883e-08, + "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": 6.962546194699826e-06, + "observation_loss": 6.918330200278433e-06, + "chamfer": 5.639355549647007e-06, + "track": 1.2789747643182636e-06, + "acceleration": 4.421590560355071e-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": 7.181120508903405e-06, + "observation_loss": 7.081629973981762e-06, + "chamfer": 5.779810635431204e-06, + "track": 1.3018192248637206e-06, + "acceleration": 9.949067703018954e-08, + "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": 7.158908374549355e-06, + "observation_loss": 6.976868917263346e-06, + "chamfer": 5.701397185475798e-06, + "track": 1.2754716181007097e-06, + "acceleration": 1.820394999185737e-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": 6.917041446286021e-06, + "observation_loss": 6.687987024633912e-06, + "chamfer": 5.487300768436398e-06, + "track": 1.2006861425106763e-06, + "acceleration": 2.290542084892877e-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": 6.618034149141749e-06, + "observation_loss": 6.499042683572043e-06, + "chamfer": 5.351324489311082e-06, + "track": 1.1477180805741227e-06, + "acceleration": 1.1899168583795472e-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": 6.604305781365838e-06, + "observation_loss": 6.490255600510864e-06, + "chamfer": 5.347810656530783e-06, + "track": 1.142444943980081e-06, + "acceleration": 1.1405028743638468e-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": 6.675310942227952e-06, + "observation_loss": 6.521182513097301e-06, + "chamfer": 5.370086455513956e-06, + "track": 1.1510962849570205e-06, + "acceleration": 1.5412841491979634e-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": 6.556221705977805e-06, + "observation_loss": 6.4158907662204e-06, + "chamfer": 5.295235496305395e-06, + "track": 1.1206551562281675e-06, + "acceleration": 1.4033106765509729e-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": 6.299038886936614e-06, + "observation_loss": 6.144515282358043e-06, + "chamfer": 5.089314527140232e-06, + "track": 1.0552005278441356e-06, + "acceleration": 1.5452368984369969e-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": 6.172474513732595e-06, + "observation_loss": 6.027057224855525e-06, + "chamfer": 4.990560228179675e-06, + "track": 1.0364969966758508e-06, + "acceleration": 1.4541720361194166e-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": 6.419721557904268e-06, + "observation_loss": 6.273286544455914e-06, + "chamfer": 5.164947651792318e-06, + "track": 1.108339006350434e-06, + "acceleration": 1.4643511292433686e-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": 6.963093710510293e-06, + "observation_loss": 6.687314453301951e-06, + "chamfer": 5.459729436552152e-06, + "track": 1.2275847893761238e-06, + "acceleration": 2.7577920036492287e-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": 7.2215470936498605e-06, + "observation_loss": 6.939582362974761e-06, + "chamfer": 5.635761681332951e-06, + "track": 1.303820567954972e-06, + "acceleration": 2.819647875185183e-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": 7.217311122076353e-06, + "observation_loss": 7.02380475559039e-06, + "chamfer": 5.7053334785450716e-06, + "track": 1.3184713907321566e-06, + "acceleration": 1.935065085945098e-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": 7.342482604144607e-06, + "observation_loss": 6.916036909387913e-06, + "chamfer": 5.631843123410363e-06, + "track": 1.2841938996643876e-06, + "acceleration": 4.2644580844353186e-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": 6.9909410740365274e-06, + "observation_loss": 6.753947673132643e-06, + "chamfer": 5.5157256610982586e-06, + "track": 1.2382220120343845e-06, + "acceleration": 2.3699344353644847e-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": 6.71131647322909e-06, + "observation_loss": 6.6425100158085115e-06, + "chamfer": 5.435597813630011e-06, + "track": 1.2069122021785006e-06, + "acceleration": 6.880631531203107e-08, + "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": 6.7422306528897025e-06, + "observation_loss": 6.687955647066701e-06, + "chamfer": 5.475852503877832e-06, + "track": 1.2121032568757073e-06, + "acceleration": 5.427487081988147e-08, + "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": 6.895816568430746e-06, + "observation_loss": 6.8214035309210885e-06, + "chamfer": 5.584967766480986e-06, + "track": 1.2364357644401025e-06, + "acceleration": 7.441292382281972e-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": 7.2181346695288084e-06, + "observation_loss": 7.1064741860027425e-06, + "chamfer": 5.795203833258711e-06, + "track": 1.3112701253703563e-06, + "acceleration": 1.1166026325781786e-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": 7.437899512297008e-06, + "observation_loss": 7.3480109676893335e-06, + "chamfer": 5.97728922002716e-06, + "track": 1.3707217476621736e-06, + "acceleration": 8.988856592395678e-08, + "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": 7.835056749172509e-06, + "observation_loss": 7.696872671658639e-06, + "chamfer": 6.231963652680861e-06, + "track": 1.4649086779172649e-06, + "acceleration": 1.381840348813057e-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": 8.042209628911223e-06, + "observation_loss": 7.991367056092713e-06, + "chamfer": 6.440892775572138e-06, + "track": 1.5504742805205751e-06, + "acceleration": 5.08421926781466e-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": 8.397762030654121e-06, + "observation_loss": 8.050074939092156e-06, + "chamfer": 6.487711289082654e-06, + "track": 1.5623636500095017e-06, + "acceleration": 3.476871484053845e-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": 8.12410689832177e-06, + "observation_loss": 8.029074706428219e-06, + "chamfer": 6.492663942481158e-06, + "track": 1.5364105365733849e-06, + "acceleration": 9.503234821295337e-08, + "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": 8.364127097593155e-06, + "observation_loss": 8.19087745185243e-06, + "chamfer": 6.612548531848006e-06, + "track": 1.5783292610649369e-06, + "acceleration": 1.732494467887591e-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": 8.7956777861109e-06, + "observation_loss": 8.584577699366491e-06, + "chamfer": 6.890075837873155e-06, + "track": 1.6945017478064983e-06, + "acceleration": 2.1110008674440905e-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": 9.043964382726699e-06, + "observation_loss": 8.9071500042337e-06, + "chamfer": 7.1099225351645146e-06, + "track": 1.7972274690691847e-06, + "acceleration": 1.368142648061621e-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": 9.143602255790029e-06, + "observation_loss": 9.041224075190257e-06, + "chamfer": 7.184688911365811e-06, + "track": 1.856535391198122e-06, + "acceleration": 1.0237779690669413e-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": 9.254919859813526e-06, + "observation_loss": 9.195371603709646e-06, + "chamfer": 7.281717444129754e-06, + "track": 1.9136541595798917e-06, + "acceleration": 5.954852966283397e-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": 9.299395060224924e-06, + "observation_loss": 9.215447789756581e-06, + "chamfer": 7.291373549378477e-06, + "track": 1.9240740130044287e-06, + "acceleration": 8.394753336915528e-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": 9.25568110687891e-06, + "observation_loss": 9.177494575851597e-06, + "chamfer": 7.263943643920356e-06, + "track": 1.9135513866785914e-06, + "acceleration": 7.818644576218503e-08, + "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": 9.319979653810151e-06, + "observation_loss": 9.119387868850026e-06, + "chamfer": 7.219871349661844e-06, + "track": 1.8995161781276693e-06, + "acceleration": 2.0059141547790205e-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": 9.537782716506626e-06, + "observation_loss": 9.404110642208252e-06, + "chamfer": 7.408206329273526e-06, + "track": 1.995904540308402e-06, + "acceleration": 1.3367176165957062e-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": 1.0041386303782929e-05, + "observation_loss": 9.956663234333973e-06, + "chamfer": 7.759767868265044e-06, + "track": 2.196895138695254e-06, + "acceleration": 8.47228278644252e-08, + "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": 1.065024480340071e-05, + "observation_loss": 1.0396060133643914e-05, + "chamfer": 8.05164654593682e-06, + "track": 2.3444138150807703e-06, + "acceleration": 2.5418478344363393e-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": 1.033824901242042e-05, + "observation_loss": 1.0213743735221215e-05, + "chamfer": 7.935188477858901e-06, + "track": 2.2785557121096645e-06, + "acceleration": 1.2450553299458988e-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": 1.0017595741373952e-05, + "observation_loss": 9.861853868642356e-06, + "chamfer": 7.716273103142157e-06, + "track": 2.145580765500199e-06, + "acceleration": 1.5574181588817737e-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": 9.646756552683655e-06, + "observation_loss": 9.601362762623467e-06, + "chamfer": 7.544981144746998e-06, + "track": 2.056382072623819e-06, + "acceleration": 4.539388243074427e-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": 9.414958185516298e-06, + "observation_loss": 9.356602276966441e-06, + "chamfer": 7.3660630732774734e-06, + "track": 1.990539203688968e-06, + "acceleration": 5.835609329096769e-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": 9.410616257810034e-06, + "observation_loss": 9.345790203951765e-06, + "chamfer": 7.348568033194169e-06, + "track": 1.997222398131271e-06, + "acceleration": 6.482648018391046e-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": 9.494624464423396e-06, + "observation_loss": 9.404277079738677e-06, + "chamfer": 7.382078365480993e-06, + "track": 2.022198486884008e-06, + "acceleration": 9.034758363668516e-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": 9.454570317757316e-06, + "observation_loss": 9.393235814059153e-06, + "chamfer": 7.36909805709729e-06, + "track": 2.0241377569618635e-06, + "acceleration": 6.13348447586759e-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": 9.538997801428195e-06, + "observation_loss": 9.403182048117742e-06, + "chamfer": 7.3514993346179835e-06, + "track": 2.0516827134997584e-06, + "acceleration": 1.3581613700353046e-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": 9.721134119899943e-06, + "observation_loss": 9.43120539886877e-06, + "chamfer": 7.366350018855883e-06, + "track": 2.064855152639211e-06, + "acceleration": 2.8992917577852495e-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": 1.011947460938245e-05, + "observation_loss": 9.506089554633945e-06, + "chamfer": 7.389188340312103e-06, + "track": 2.1169007595744915e-06, + "acceleration": 6.133852821221808e-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": 1.0395248864369933e-05, + "observation_loss": 9.577694072504528e-06, + "chamfer": 7.432624897774076e-06, + "track": 2.1450689473567763e-06, + "acceleration": 8.175547918654047e-07, + "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": 9.96742892311886e-06, + "observation_loss": 9.592335118213668e-06, + "chamfer": 7.440224635502091e-06, + "track": 2.1521107100852532e-06, + "acceleration": 3.7509425965254195e-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": 9.844033229455817e-06, + "observation_loss": 9.723150469653774e-06, + "chamfer": 7.534391897934256e-06, + "track": 2.188758571719518e-06, + "acceleration": 1.2088256085007743e-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": 9.958507689589169e-06, + "observation_loss": 9.872379450825974e-06, + "chamfer": 7.6281266956357285e-06, + "track": 2.244252755190246e-06, + "acceleration": 8.612789770268137e-08, + "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": 1.0160627425648272e-05, + "observation_loss": 1.0094752724398859e-05, + "chamfer": 7.763863322907127e-06, + "track": 2.330889628865407e-06, + "acceleration": 6.587515599676408e-08, + "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": 1.0171966096095275e-05, + "observation_loss": 1.0110934454132803e-05, + "chamfer": 7.76886099629337e-06, + "track": 2.3420732304657577e-06, + "acceleration": 6.103149274849784e-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": 1.0253515029035043e-05, + "observation_loss": 1.0084939276566729e-05, + "chamfer": 7.735695362498518e-06, + "track": 2.3492443688155618e-06, + "acceleration": 1.6857561035976687e-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": 1.0126043889613356e-05, + "observation_loss": 1.0028760698332917e-05, + "chamfer": 7.655587069166359e-06, + "track": 2.373173401792883e-06, + "acceleration": 9.728356076266209e-08, + "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": 1.0020565241575241e-05, + "observation_loss": 9.946679710992612e-06, + "chamfer": 7.574793471576413e-06, + "track": 2.371886239416199e-06, + "acceleration": 7.388584322143288e-08, + "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": 1.0027958524005953e-05, + "observation_loss": 9.810582923819311e-06, + "chamfer": 7.489004019589629e-06, + "track": 2.3215786768560065e-06, + "acceleration": 2.173759270363007e-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": 1.0167211257794406e-05, + "observation_loss": 9.627903637010604e-06, + "chamfer": 7.388725862256251e-06, + "track": 2.2391780021280283e-06, + "acceleration": 5.39307279723289e-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": 9.881759069685359e-06, + "observation_loss": 9.579724064678885e-06, + "chamfer": 7.3578598858148325e-06, + "track": 2.2218637241167016e-06, + "acceleration": 3.0203474921108864e-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": 9.772370503924321e-06, + "observation_loss": 9.580278856446967e-06, + "chamfer": 7.369159447989659e-06, + "track": 2.2111189537099563e-06, + "acceleration": 1.92091889061885e-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": 9.803275133890565e-06, + "observation_loss": 9.65370963967871e-06, + "chamfer": 7.425134299410274e-06, + "track": 2.228575795015786e-06, + "acceleration": 1.4956535210330912e-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": 9.83823792921612e-06, + "observation_loss": 9.77514537225943e-06, + "chamfer": 7.50765684642829e-06, + "track": 2.267488298457465e-06, + "acceleration": 6.309242195357001e-08, + "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": 9.959570888895541e-06, + "observation_loss": 9.9255385066499e-06, + "chamfer": 7.599425316584529e-06, + "track": 2.3261134174390463e-06, + "acceleration": 3.403277659685955e-08, + "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": 1.0099351129611023e-05, + "observation_loss": 1.0049811862700153e-05, + "chamfer": 7.647815436939709e-06, + "track": 2.4019964257604443e-06, + "acceleration": 4.953934151785688e-08, + "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": 1.0332168130844366e-05, + "observation_loss": 1.0223162462352775e-05, + "chamfer": 7.727737283858005e-06, + "track": 2.4954249511210946e-06, + "acceleration": 1.0900608060637751e-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": 1.0882320566452108e-05, + "observation_loss": 1.0588597433525138e-05, + "chamfer": 7.91231377661461e-06, + "track": 2.6762836569105275e-06, + "acceleration": 2.93723019240133e-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": 1.1632942005235236e-05, + "observation_loss": 1.097217136702966e-05, + "chamfer": 8.108805559459142e-06, + "track": 2.863365807570517e-06, + "acceleration": 6.607707518924144e-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": 1.1558369806152768e-05, + "observation_loss": 1.1314121366012841e-05, + "chamfer": 8.29793862067163e-06, + "track": 3.0161822905938607e-06, + "acceleration": 2.4424889488727786e-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": 1.1585450010898057e-05, + "observation_loss": 1.1499214451760054e-05, + "chamfer": 8.38624509924557e-06, + "track": 3.1129695798881585e-06, + "acceleration": 8.623520386663586e-08, + "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": 1.1947101484111045e-05, + "observation_loss": 1.1764974260586314e-05, + "chamfer": 8.549142876290716e-06, + "track": 3.215831611669273e-06, + "acceleration": 1.8212759300695325e-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": 1.2315388630668167e-05, + "observation_loss": 1.2107384463888593e-05, + "chamfer": 8.744980732444674e-06, + "track": 3.3624032766965684e-06, + "acceleration": 2.0800430888812116e-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": 1.2411624993546866e-05, + "observation_loss": 1.2337914085946977e-05, + "chamfer": 8.86491034179926e-06, + "track": 3.4730035167740425e-06, + "acceleration": 7.371108523557268e-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": 1.25280403153738e-05, + "observation_loss": 1.2445409993233625e-05, + "chamfer": 8.915113539842423e-06, + "track": 3.5302962260175264e-06, + "acceleration": 8.262993844709854e-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": 1.2581415830936749e-05, + "observation_loss": 1.251574394700583e-05, + "chamfer": 8.955040357250255e-06, + "track": 3.560703589755576e-06, + "acceleration": 6.567228183484985e-08, + "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": 1.2594930922205094e-05, + "observation_loss": 1.254249582416378e-05, + "chamfer": 8.946788511821069e-06, + "track": 3.59570685759536e-06, + "acceleration": 5.24354888398193e-08, + "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": 1.2614864317583852e-05, + "observation_loss": 1.2562366464408115e-05, + "chamfer": 8.93335891305469e-06, + "track": 3.6290073239797493e-06, + "acceleration": 5.249741619195447e-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": 1.267496554646641e-05, + "observation_loss": 1.2548298400361091e-05, + "chamfer": 8.933529898058623e-06, + "track": 3.6147682749287924e-06, + "acceleration": 1.2666706084019097e-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": 1.262899149878649e-05, + "observation_loss": 1.2511152817751281e-05, + "chamfer": 8.912420526030473e-06, + "track": 3.598732064347132e-06, + "acceleration": 1.1783876630033774e-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": 1.2495072041929234e-05, + "observation_loss": 1.248143962584436e-05, + "chamfer": 8.882138899934944e-06, + "track": 3.5993011806567665e-06, + "acceleration": 1.3631962225701955e-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": 1.2494378097471781e-05, + "observation_loss": 1.2439937563613057e-05, + "chamfer": 8.845739102980588e-06, + "track": 3.5941980058851186e-06, + "acceleration": 5.444050188430083e-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": 1.2506111488619354e-05, + "observation_loss": 1.2394377336022444e-05, + "chamfer": 8.808126040094066e-06, + "track": 3.5862510685547022e-06, + "acceleration": 1.1173392522323411e-07, + "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": 1.2403906112012919e-05, + "observation_loss": 1.2295370652282145e-05, + "chamfer": 8.755982889852021e-06, + "track": 3.539387762430124e-06, + "acceleration": 1.0853531051679965e-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": 1.2143372259743046e-05, + "observation_loss": 1.2094313206034712e-05, + "chamfer": 8.646728929306846e-06, + "track": 3.447584049354191e-06, + "acceleration": 4.905905015561984e-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": 9.819172106517726e-06, + "chamfer_mean": 6.783107240930046e-06, + "track_mean": 1.983174313953858e-06, + "acceleration_mean": 1.0528905432793945e-06, + "observation_score": 8.766281591003159e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.430732540000463 + }, + "score_arrays_file": "pass_scores/pass_end_0109.npz", + "score_arrays_sha256": "6a6b95fb9a6b8dc0dba36836710276d959ebbc6009fcb693001f89a451f097ab" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0110.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0110.json new file mode 100644 index 0000000000000000000000000000000000000000..e3ff62d8cd6c9ba41224080c60e148550e3eef35 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0110.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10560, + "completed_passes": 110, + "snapshot": "pass_end_0110", + "candidate": true, + "snapshot_arrays_sha256": "fbc086942ff4f80a59e004bb7f0df029c7bf26ddf9f5b2ede311c2d53619ee6c", + "score": 8.756196685055784e-06, + "score_result": { + "score": 8.756196685055784e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9845200515410397e-06, + 3.3886674373206915e-06, + 3.890826974384254e-06, + 4.958805220667273e-06, + 5.890848569833906e-06, + 6.379426849889569e-06, + 6.412247330445098e-06, + 6.12299891145085e-06, + 5.881916877115145e-06, + 5.817041710542981e-06, + 6.027194103808142e-06, + 6.276303338381695e-06, + 6.534196018037619e-06, + 6.771227162971627e-06, + 6.8997796915937215e-06, + 7.06358696334064e-06, + 6.957914592931047e-06, + 6.670114089502022e-06, + 6.480708634626353e-06, + 6.470732841989957e-06, + 6.501602001662832e-06, + 6.395162472472293e-06, + 6.123720595496707e-06, + 6.006492185406387e-06, + 6.250454134715255e-06, + 6.66398318571737e-06, + 6.917609880474629e-06, + 7.003055088716792e-06, + 6.898683750478085e-06, + 6.7371074692346156e-06, + 6.6261563915759325e-06, + 6.672953531960957e-06, + 6.8074305090704e-06, + 7.091779480106197e-06, + 7.333769644901622e-06, + 7.682650903007016e-06, + 7.977284440130461e-06, + 8.036473445827141e-06, + 8.014776540221646e-06, + 8.174670256266836e-06, + 8.567103577661328e-06, + 8.891130164556671e-06, + 9.026108273246791e-06, + 9.17961460800143e-06, + 9.200530257658102e-06, + 9.16384578886209e-06, + 9.107156984100584e-06, + 9.39385972742457e-06, + 9.950363164534792e-06, + 1.0390714123786893e-05, + 1.0207409104623366e-05, + 9.854803465714213e-06, + 9.59417775447946e-06, + 9.346997103421018e-06, + 9.334551577921957e-06, + 9.392047104483936e-06, + 9.381097697769292e-06, + 9.390678314957768e-06, + 9.419387424713932e-06, + 9.494738151261117e-06, + 9.567305824020877e-06, + 9.58336386247538e-06, + 9.716641216073185e-06, + 9.868780580291059e-06, + 1.0094462595588993e-05, + 1.0113752978213597e-05, + 1.008853087114403e-05, + 1.0033793842012528e-05, + 9.952603249985259e-06, + 9.81526591203874e-06, + 9.629807209421415e-06, + 9.57960855885176e-06, + 9.578615390637424e-06, + 9.649660569266416e-06, + 9.769046300789341e-06, + 9.917595889419317e-06, + 1.0040896995633375e-05, + 1.0214610483672004e-05, + 1.0581317837932147e-05, + 1.0964980901917443e-05, + 1.1308333341730759e-05, + 1.1493876627355348e-05, + 1.1757798347389325e-05, + 1.2099990271963179e-05, + 1.2332273399806581e-05, + 1.2439762940630317e-05, + 1.2509299267549068e-05, + 1.2535761925391853e-05, + 1.2555652574519627e-05, + 1.2541258911369368e-05, + 1.2503136531449854e-05, + 1.2474295544961933e-05, + 1.243367569259135e-05, + 1.2388559298415203e-05, + 1.2289909136597998e-05, + 1.208946923725307e-05 + ] + ], + "episode_mean_losses": [ + 8.756196685055784e-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": 2.9845200515410397e-06, + "observation_loss": 2.9845200515410397e-06, + "chamfer": 2.5307956548203947e-06, + "track": 4.537244819857733e-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": 4.662143692257814e-05, + "observation_loss": 3.3886674373206915e-06, + "chamfer": 2.8656802442128537e-06, + "track": 5.229872499512567e-07, + "acceleration": 4.323276880313642e-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": 2.8722262868541293e-05, + "observation_loss": 3.890826974384254e-06, + "chamfer": 3.277400082879467e-06, + "track": 6.134267209745303e-07, + "acceleration": 2.4831435439409688e-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": 1.3801071872876491e-05, + "observation_loss": 4.958805220667273e-06, + "chamfer": 4.103188530280022e-06, + "track": 8.556166903872509e-07, + "acceleration": 8.842266652209219e-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": 1.0275894055666868e-05, + "observation_loss": 5.890848569833906e-06, + "chamfer": 4.767642622027779e-06, + "track": 1.1232058341192896e-06, + "acceleration": 4.385045485832961e-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": 7.97520624473691e-06, + "observation_loss": 6.379426849889569e-06, + "chamfer": 5.081806648377096e-06, + "track": 1.2976199741387973e-06, + "acceleration": 1.5957791674736654e-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": 8.302258720505051e-06, + "observation_loss": 6.412247330445098e-06, + "chamfer": 5.079048150946619e-06, + "track": 1.3331992931853165e-06, + "acceleration": 1.8900111626862781e-06, + "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": 7.218810424092226e-06, + "observation_loss": 6.12299891145085e-06, + "chamfer": 4.870710654358845e-06, + "track": 1.2522883707788424e-06, + "acceleration": 1.0958117400150513e-06, + "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": 6.651683179370593e-06, + "observation_loss": 5.881916877115145e-06, + "chamfer": 4.7038556658662856e-06, + "track": 1.1780613249356975e-06, + "acceleration": 7.697660748817725e-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": 6.186138762132032e-06, + "observation_loss": 5.817041710542981e-06, + "chamfer": 4.679551238950808e-06, + "track": 1.1374903579053353e-06, + "acceleration": 3.6909722211930784e-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": 6.18994408796425e-06, + "observation_loss": 6.027194103808142e-06, + "chamfer": 4.870426437264541e-06, + "track": 1.1567677802304388e-06, + "acceleration": 1.627499557343981e-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": 6.407484761439264e-06, + "observation_loss": 6.276303338381695e-06, + "chamfer": 5.079171387478709e-06, + "track": 1.1971320645898231e-06, + "acceleration": 1.3118157937697106e-07, + "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": 6.5975223151326645e-06, + "observation_loss": 6.534196018037619e-06, + "chamfer": 5.30290208189399e-06, + "track": 1.2312938224567915e-06, + "acceleration": 6.332628288419073e-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": 6.855912033643108e-06, + "observation_loss": 6.771227162971627e-06, + "chamfer": 5.508451067726128e-06, + "track": 1.2627763226191746e-06, + "acceleration": 8.468482093348939e-08, + "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": 6.948895588720916e-06, + "observation_loss": 6.8997796915937215e-06, + "chamfer": 5.626158781524282e-06, + "track": 1.2736207963826018e-06, + "acceleration": 4.911574436050614e-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": 7.166038358263904e-06, + "observation_loss": 7.06358696334064e-06, + "chamfer": 5.766744379798183e-06, + "track": 1.2968423561687814e-06, + "acceleration": 1.0245155834809339e-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": 7.141601599869318e-06, + "observation_loss": 6.957914592931047e-06, + "chamfer": 5.687360044248635e-06, + "track": 1.2705544349955744e-06, + "acceleration": 1.8368706378169009e-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": 6.900090738781728e-06, + "observation_loss": 6.670114089502022e-06, + "chamfer": 5.473847068060422e-06, + "track": 1.196267135128437e-06, + "acceleration": 2.2997662085799675e-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": 6.595626473426819e-06, + "observation_loss": 6.480708634626353e-06, + "chamfer": 5.33731872565113e-06, + "track": 1.143389908975223e-06, + "acceleration": 1.1491778906247418e-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": 6.574774943146622e-06, + "observation_loss": 6.470732841989957e-06, + "chamfer": 5.33294814886176e-06, + "track": 1.1377846931281965e-06, + "acceleration": 1.0404222905435745e-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": 6.648079306614818e-06, + "observation_loss": 6.501602001662832e-06, + "chamfer": 5.355287612474058e-06, + "track": 1.146314389188774e-06, + "acceleration": 1.4647736179540516e-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": 6.5324279603373725e-06, + "observation_loss": 6.395162472472293e-06, + "chamfer": 5.279430297377985e-06, + "track": 1.1157320614074706e-06, + "acceleration": 1.3726543102166033e-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": 6.2761396293353755e-06, + "observation_loss": 6.123720595496707e-06, + "chamfer": 5.073187821835745e-06, + "track": 1.0505326599741238e-06, + "acceleration": 1.524189059409764e-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": 6.148483862489229e-06, + "observation_loss": 6.006492185406387e-06, + "chamfer": 4.974608600605279e-06, + "track": 1.031883812174783e-06, + "acceleration": 1.4199171971540636e-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": 6.396252501872368e-06, + "observation_loss": 6.250454134715255e-06, + "chamfer": 5.1472247832862195e-06, + "track": 1.1032292377421982e-06, + "acceleration": 1.457981824160015e-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": 6.938428668945562e-06, + "observation_loss": 6.66398318571737e-06, + "chamfer": 5.442001111077843e-06, + "track": 1.2219820746395271e-06, + "acceleration": 2.744454548064823e-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": 7.20022171663004e-06, + "observation_loss": 6.917609880474629e-06, + "chamfer": 5.619149305857718e-06, + "track": 1.2984606883037486e-06, + "acceleration": 2.8261175089028256e-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": 7.197289050964173e-06, + "observation_loss": 7.003055088716792e-06, + "chamfer": 5.689446425094502e-06, + "track": 1.31360866362229e-06, + "acceleration": 1.94234061723364e-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": 7.329303571168566e-06, + "observation_loss": 6.898683750478085e-06, + "chamfer": 5.6185103858297225e-06, + "track": 1.2801731372746872e-06, + "acceleration": 4.3061987753389985e-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": 6.977888915571384e-06, + "observation_loss": 6.7371074692346156e-06, + "chamfer": 5.502555268321885e-06, + "track": 1.2345519735390553e-06, + "acceleration": 2.407813894933497e-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": 6.6948477979167365e-06, + "observation_loss": 6.6261563915759325e-06, + "chamfer": 5.422859430836979e-06, + "track": 1.2032969607389532e-06, + "acceleration": 6.86915981873426e-08, + "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": 6.726789706590353e-06, + "observation_loss": 6.672953531960957e-06, + "chamfer": 5.464155947265681e-06, + "track": 1.2087975846952759e-06, + "acceleration": 5.383613199683168e-08, + "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": 6.880251930851955e-06, + "observation_loss": 6.8074305090704e-06, + "chamfer": 5.57397652301006e-06, + "track": 1.2334542134340154e-06, + "acceleration": 7.282134362185388e-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": 7.202879714895971e-06, + "observation_loss": 7.091779480106197e-06, + "chamfer": 5.783675078419037e-06, + "track": 1.3081042880003224e-06, + "acceleration": 1.1110026321148325e-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": 7.423689567076508e-06, + "observation_loss": 7.333769644901622e-06, + "chamfer": 5.9662361309165135e-06, + "track": 1.3675332866114331e-06, + "acceleration": 8.991991506945851e-08, + "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": 7.820850441930816e-06, + "observation_loss": 7.682650903007016e-06, + "chamfer": 6.221116109372815e-06, + "track": 1.4615349073210382e-06, + "acceleration": 1.381995389238e-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": 8.028202501009218e-06, + "observation_loss": 7.977284440130461e-06, + "chamfer": 6.430435405491153e-06, + "track": 1.546848693578795e-06, + "acceleration": 5.0918359306706407e-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": 8.386107765545603e-06, + "observation_loss": 8.036473445827141e-06, + "chamfer": 6.47784463581047e-06, + "track": 1.5586283552693203e-06, + "acceleration": 3.4963409234478604e-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": 8.112863724818453e-06, + "observation_loss": 8.014776540221646e-06, + "chamfer": 6.4823734646779485e-06, + "track": 1.5324035302910488e-06, + "acceleration": 9.808736933791806e-08, + "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": 8.350158168468624e-06, + "observation_loss": 8.174670256266836e-06, + "chamfer": 6.600903361686505e-06, + "track": 1.5737668945803307e-06, + "acceleration": 1.7548761377383926e-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": 8.778992196312174e-06, + "observation_loss": 8.567103577661328e-06, + "chamfer": 6.8776184889429715e-06, + "track": 1.6894847476578434e-06, + "acceleration": 2.1188898813306878e-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": 9.02844203665154e-06, + "observation_loss": 8.891130164556671e-06, + "chamfer": 7.098553851392353e-06, + "track": 1.7925764268511557e-06, + "acceleration": 1.373121278902545e-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": 9.127307748713065e-06, + "observation_loss": 9.026108273246791e-06, + "chamfer": 7.173898211476626e-06, + "track": 1.8522104028306785e-06, + "acceleration": 1.0119943993913694e-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": 9.238652637577616e-06, + "observation_loss": 9.17961460800143e-06, + "chamfer": 7.2705397542449646e-06, + "track": 1.909074853756465e-06, + "acceleration": 5.903758903968992e-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": 9.285005035053473e-06, + "observation_loss": 9.200530257658102e-06, + "chamfer": 7.280704267031979e-06, + "track": 1.9198264453734737e-06, + "acceleration": 8.44752037210128e-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": 9.24241521715885e-06, + "observation_loss": 9.16384578886209e-06, + "chamfer": 7.254284355440177e-06, + "track": 1.9095614334219135e-06, + "acceleration": 7.856906591996449e-08, + "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": 9.308546395914163e-06, + "observation_loss": 9.107156984100584e-06, + "chamfer": 7.211112006189069e-06, + "track": 1.8960448642246774e-06, + "acceleration": 2.013891418073399e-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": 9.528055670671165e-06, + "observation_loss": 9.39385972742457e-06, + "chamfer": 7.400610684271669e-06, + "track": 1.9932485884055495e-06, + "acceleration": 1.3419612798770686e-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": 1.0035365448857192e-05, + "observation_loss": 9.950363164534792e-06, + "chamfer": 7.75518492446281e-06, + "track": 2.195178240071982e-06, + "acceleration": 8.500217063556192e-08, + "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": 1.064586376742227e-05, + "observation_loss": 1.0390714123786893e-05, + "chamfer": 8.047695700952318e-06, + "track": 2.3430181954608997e-06, + "acceleration": 2.5514950152683014e-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": 1.0332793863199186e-05, + "observation_loss": 1.0207409104623366e-05, + "chamfer": 7.930520951049402e-06, + "track": 2.2768883809476392e-06, + "acceleration": 1.2538431803932326e-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": 1.0011621270678006e-05, + "observation_loss": 9.854803465714213e-06, + "chamfer": 7.711055332038086e-06, + "track": 2.143748361049802e-06, + "acceleration": 1.5681764864439174e-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": 9.639803465688601e-06, + "observation_loss": 9.59417775447946e-06, + "chamfer": 7.540053047705442e-06, + "track": 2.0541247067740187e-06, + "acceleration": 4.562528843621294e-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": 9.40522750170203e-06, + "observation_loss": 9.346997103421018e-06, + "chamfer": 7.359339178947266e-06, + "track": 1.9876574697264004e-06, + "acceleration": 5.8230384070157015e-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": 9.399452210345771e-06, + "observation_loss": 9.334551577921957e-06, + "chamfer": 7.340989213844296e-06, + "track": 1.9935621367039857e-06, + "acceleration": 6.490030557415594e-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": 9.482395398663357e-06, + "observation_loss": 9.392047104483936e-06, + "chamfer": 7.373803327936912e-06, + "track": 2.018243776547024e-06, + "acceleration": 9.034811654373698e-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": 9.442639566259459e-06, + "observation_loss": 9.381097697769292e-06, + "chamfer": 7.361038569797529e-06, + "track": 2.020059127971763e-06, + "acceleration": 6.154200349328676e-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": 9.527844667900354e-06, + "observation_loss": 9.390678314957768e-06, + "chamfer": 7.343142897298094e-06, + "track": 2.0475351902859984e-06, + "acceleration": 1.3716596924950863e-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": 9.710532140161376e-06, + "observation_loss": 9.419387424713932e-06, + "chamfer": 7.358664333878551e-06, + "track": 2.060722863461706e-06, + "acceleration": 2.911443743869313e-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": 1.0110114999406505e-05, + "observation_loss": 9.494738151261117e-06, + "chamfer": 7.381906470982358e-06, + "track": 2.1128316802787594e-06, + "acceleration": 6.153769618322258e-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": 1.0389347153250128e-05, + "observation_loss": 9.567305824020877e-06, + "chamfer": 7.426308457070263e-06, + "track": 2.140997139576939e-06, + "acceleration": 8.220416134463449e-07, + "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": 9.962170224753208e-06, + "observation_loss": 9.58336386247538e-06, + "chamfer": 7.434845429088455e-06, + "track": 2.148518660760601e-06, + "acceleration": 3.788060496390244e-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": 9.83875088422792e-06, + "observation_loss": 9.716641216073185e-06, + "chamfer": 7.5306334110791795e-06, + "track": 2.1860082597413566e-06, + "acceleration": 1.2210966815473512e-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": 9.955439054465387e-06, + "observation_loss": 9.868780580291059e-06, + "chamfer": 7.6259480010776315e-06, + "track": 2.242832806587103e-06, + "acceleration": 8.665813311381498e-08, + "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": 1.0159893463423941e-05, + "observation_loss": 1.0094462595588993e-05, + "chamfer": 7.763736903143581e-06, + "track": 2.330725465071737e-06, + "acceleration": 6.54310028380678e-08, + "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": 1.0174072485824581e-05, + "observation_loss": 1.0113752978213597e-05, + "chamfer": 7.770850061206147e-06, + "track": 2.3429031443811255e-06, + "acceleration": 6.031957866525772e-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": 1.0257605026708916e-05, + "observation_loss": 1.008853087114403e-05, + "chamfer": 7.738191015960183e-06, + "track": 2.3503400825575227e-06, + "acceleration": 1.6907399924548372e-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": 1.0131557246495504e-05, + "observation_loss": 1.0033793842012528e-05, + "chamfer": 7.659072252863552e-06, + "track": 2.3747213617753005e-06, + "acceleration": 9.776334053412938e-08, + "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": 1.0026928066508844e-05, + "observation_loss": 9.952603249985259e-06, + "chamfer": 7.578903932881076e-06, + "track": 2.3736995444778586e-06, + "acceleration": 7.43247952073034e-08, + "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": 1.0033755643235054e-05, + "observation_loss": 9.81526591203874e-06, + "chamfer": 7.492169061151799e-06, + "track": 2.3230966235132655e-06, + "acceleration": 2.1848951803349337e-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": 1.0172354450332932e-05, + "observation_loss": 9.629807209421415e-06, + "chamfer": 7.390001883322839e-06, + "track": 2.2398050987249007e-06, + "acceleration": 5.425476388154493e-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": 9.88339616014855e-06, + "observation_loss": 9.57960855885176e-06, + "chamfer": 7.357562481047353e-06, + "track": 2.2220458504307317e-06, + "acceleration": 3.037871749711485e-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": 9.77147192315897e-06, + "observation_loss": 9.578615390637424e-06, + "chamfer": 7.36773881726549e-06, + "track": 2.2108765733719338e-06, + "acceleration": 1.9285630514787044e-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": 9.799879990168847e-06, + "observation_loss": 9.649660569266416e-06, + "chamfer": 7.42211068427423e-06, + "track": 2.2275496576185105e-06, + "acceleration": 1.5021946353499516e-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": 9.832663636188954e-06, + "observation_loss": 9.769046300789341e-06, + "chamfer": 7.503331289626658e-06, + "track": 2.2657145564153325e-06, + "acceleration": 6.361727145076657e-08, + "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": 9.951517313311342e-06, + "observation_loss": 9.917595889419317e-06, + "chamfer": 7.594146154588088e-06, + "track": 2.323449734831229e-06, + "acceleration": 3.3921626396704596e-08, + "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": 1.0091384865518194e-05, + "observation_loss": 1.0040896995633375e-05, + "chamfer": 7.641907359356992e-06, + "track": 2.398989636276383e-06, + "acceleration": 5.048819318176356e-08, + "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": 1.0324468348699156e-05, + "observation_loss": 1.0214610483672004e-05, + "chamfer": 7.722325790382456e-06, + "track": 2.4922844659158727e-06, + "acceleration": 1.0985755238834827e-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": 1.0839708011189941e-05, + "observation_loss": 1.0581317837932147e-05, + "chamfer": 7.907714461907744e-06, + "track": 2.6736033760244027e-06, + "acceleration": 2.583904290531791e-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": 1.1471528523543384e-05, + "observation_loss": 1.0964980901917443e-05, + "chamfer": 8.104087100946344e-06, + "track": 2.8608940283447737e-06, + "acceleration": 5.065479058430356e-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": 1.1516583072079811e-05, + "observation_loss": 1.1308333341730759e-05, + "chamfer": 8.294232429761905e-06, + "track": 3.014101366716204e-06, + "acceleration": 2.082496450839244e-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": 1.1580789760046173e-05, + "observation_loss": 1.1493876627355348e-05, + "chamfer": 8.382840860576835e-06, + "track": 3.1110355394048383e-06, + "acceleration": 8.691282005202083e-08, + "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": 1.1943931895075366e-05, + "observation_loss": 1.1757798347389325e-05, + "chamfer": 8.544622687622905e-06, + "track": 3.2131754323927453e-06, + "acceleration": 1.861333487340744e-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": 1.2310567399254069e-05, + "observation_loss": 1.2099990271963179e-05, + "chamfer": 8.740730663703289e-06, + "track": 3.3592596082598902e-06, + "acceleration": 2.105772125560179e-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": 1.2407062968122773e-05, + "observation_loss": 1.2332273399806581e-05, + "chamfer": 8.862165486789308e-06, + "track": 3.470107458269922e-06, + "acceleration": 7.478919172854148e-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": 1.2522430552053265e-05, + "observation_loss": 1.2439762940630317e-05, + "chamfer": 8.91231593413977e-06, + "track": 3.527447006490547e-06, + "acceleration": 8.266717799187973e-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": 1.2575810615089722e-05, + "observation_loss": 1.2509299267549068e-05, + "chamfer": 8.951700692705344e-06, + "track": 3.5575990295910742e-06, + "acceleration": 6.651134043522688e-08, + "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": 1.2589496691362001e-05, + "observation_loss": 1.2535761925391853e-05, + "chamfer": 8.943353350332472e-06, + "track": 3.5924081203120295e-06, + "acceleration": 5.373436451350244e-08, + "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": 1.26092973005143e-05, + "observation_loss": 1.2555652574519627e-05, + "chamfer": 8.929971954785287e-06, + "track": 3.625680392360664e-06, + "acceleration": 5.3645145214886725e-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": 1.266861454496393e-05, + "observation_loss": 1.2541258911369368e-05, + "chamfer": 8.929804607760161e-06, + "track": 3.6114543036092073e-06, + "acceleration": 1.2735534937746706e-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": 1.2620831512322184e-05, + "observation_loss": 1.2503136531449854e-05, + "chamfer": 8.908149538910948e-06, + "track": 3.5949874472862575e-06, + "acceleration": 1.1769510877002176e-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": 1.2488018910516985e-05, + "observation_loss": 1.2474295544961933e-05, + "chamfer": 8.878188964445144e-06, + "track": 3.5961068078904646e-06, + "acceleration": 1.372373326091747e-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": 1.2488717402447946e-05, + "observation_loss": 1.243367569259135e-05, + "chamfer": 8.842337592795957e-06, + "track": 3.591337872421718e-06, + "acceleration": 5.504152156277087e-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": 1.2501183846325148e-05, + "observation_loss": 1.2388559298415203e-05, + "chamfer": 8.804939170659054e-06, + "track": 3.583619900382473e-06, + "acceleration": 1.1262496002473199e-07, + "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": 1.2399486877257004e-05, + "observation_loss": 1.2289909136597998e-05, + "chamfer": 8.75291971169645e-06, + "track": 3.536988970154198e-06, + "acceleration": 1.0957744223105692e-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": 1.2138783858972602e-05, + "observation_loss": 1.208946923725307e-05, + "chamfer": 8.643963155918755e-06, + "track": 3.4455060813343152e-06, + "acceleration": 4.931470343194633e-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": 9.803113556472454e-06, + "chamfer_mean": 6.77598460659586e-06, + "track_mean": 1.980212045005203e-06, + "acceleration_mean": 1.0469168208830186e-06, + "observation_score": 8.756196685055784e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4306513709998399 + }, + "score_arrays_file": "pass_scores/pass_end_0110.npz", + "score_arrays_sha256": "8614872ed2fbf8721588fd4bd50b36678af5cc53c8238fdc8acb3f45938a3661" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0111.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0111.json new file mode 100644 index 0000000000000000000000000000000000000000..3b4fffdcaae66c768d6676f2c6c53a9a813ca4d0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0111.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10656, + "completed_passes": 111, + "snapshot": "pass_end_0111", + "candidate": true, + "snapshot_arrays_sha256": "d9a94d5cb7b6c2bf7b32eb5c37c0d83a89fe3e1891d5d108123633866e26c436", + "score": 8.74531322618092e-06, + "score_result": { + "score": 8.74531322618092e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9828759124939097e-06, + 3.3863634598674253e-06, + 3.8843636502861045e-06, + 4.94611231260933e-06, + 5.876111117686378e-06, + 6.361887244565878e-06, + 6.4010096139099915e-06, + 6.121410933701554e-06, + 5.8816917771764565e-06, + 5.813721145386808e-06, + 6.018245585437398e-06, + 6.263217983359937e-06, + 6.517391284432961e-06, + 6.753143225068925e-06, + 6.880111868667882e-06, + 7.0420528572867624e-06, + 6.9368652475532144e-06, + 6.647695045103319e-06, + 6.4592381932016e-06, + 6.447422492783517e-06, + 6.477724127762485e-06, + 6.370744358719094e-06, + 6.10019651503535e-06, + 5.9828498706338e-06, + 6.22341167400009e-06, + 6.635269528487697e-06, + 6.8905196712876204e-06, + 6.977575594646623e-06, + 6.8754916355828755e-06, + 6.715108611388132e-06, + 6.60594332657638e-06, + 6.654744538536761e-06, + 6.790395673306193e-06, + 7.0754967964603566e-06, + 7.31750697013922e-06, + 7.666598321520723e-06, + 7.962664312799461e-06, + 8.022640940907877e-06, + 7.999597073649056e-06, + 8.15701514511602e-06, + 8.546816388843581e-06, + 8.870591955201235e-06, + 9.006057553051505e-06, + 9.158890861726832e-06, + 9.179796506941784e-06, + 9.144015166384634e-06, + 9.088467777473852e-06, + 9.376087291457225e-06, + 9.933752153301612e-06, + 1.0374648809374776e-05, + 1.0191844012297224e-05, + 9.839999620453455e-06, + 9.579855941410642e-06, + 9.332334229839034e-06, + 9.319441232946701e-06, + 9.377437891089357e-06, + 9.367316124553327e-06, + 9.376928574056365e-06, + 9.406378921994474e-06, + 9.481485903961584e-06, + 9.555475116940215e-06, + 9.572338967700489e-06, + 9.706294804345816e-06, + 9.86073246167507e-06, + 1.0088492672366556e-05, + 1.0109839422511868e-05, + 1.0086052498081699e-05, + 1.0032868885900825e-05, + 9.953304470400326e-06, + 9.816708370635752e-06, + 9.632316505303606e-06, + 9.582954589859582e-06, + 9.581099220667966e-06, + 9.650977517594583e-06, + 9.770105862116907e-06, + 9.918430805555545e-06, + 1.0040141205536202e-05, + 1.0214055691903923e-05, + 1.058210909832269e-05, + 1.096652340493165e-05, + 1.1309796718705911e-05, + 1.1494819773361087e-05, + 1.1756224921555258e-05, + 1.20984623208642e-05, + 1.2332033293205313e-05, + 1.243956467078533e-05, + 1.2508657164289616e-05, + 1.2535194400697947e-05, + 1.2554712156997994e-05, + 1.2540488569356967e-05, + 1.2502335266617592e-05, + 1.2474013601604383e-05, + 1.2434518794179894e-05, + 1.2390402844175696e-05, + 1.229118242918048e-05, + 1.2092268661945127e-05 + ] + ], + "episode_mean_losses": [ + 8.74531322618092e-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": 2.9828759124939097e-06, + "observation_loss": 2.9828759124939097e-06, + "chamfer": 2.5294257284258492e-06, + "track": 4.5345015564635105e-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": 4.65038901893422e-05, + "observation_loss": 3.3863634598674253e-06, + "chamfer": 2.863772579075885e-06, + "track": 5.225909376349591e-07, + "acceleration": 4.311752491048537e-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": 2.854529520845972e-05, + "observation_loss": 3.8843636502861045e-06, + "chamfer": 3.27220504914294e-06, + "track": 6.121583737694891e-07, + "acceleration": 2.4660930648678914e-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": 1.3726260476687457e-05, + "observation_loss": 4.94611231260933e-06, + "chamfer": 4.093682946404442e-06, + "track": 8.52429195674631e-07, + "acceleration": 8.780148164078128e-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": 1.0259202099405229e-05, + "observation_loss": 5.876111117686378e-06, + "chamfer": 4.7577555051248055e-06, + "track": 1.1183556125615723e-06, + "acceleration": 4.3830905269715e-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": 7.965365512063727e-06, + "observation_loss": 6.361887244565878e-06, + "chamfer": 5.070649422123097e-06, + "track": 1.2912380498164566e-06, + "acceleration": 1.6034779264373356e-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": 8.277997949335258e-06, + "observation_loss": 6.4010096139099915e-06, + "chamfer": 5.072019575891318e-06, + "track": 1.3289900380186737e-06, + "acceleration": 1.8769881080515916e-06, + "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": 7.1865683821670245e-06, + "observation_loss": 6.121410933701554e-06, + "chamfer": 4.8697402235120535e-06, + "track": 1.2516708238763385e-06, + "acceleration": 1.065157562152308e-06, + "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": 6.629191375395749e-06, + "observation_loss": 5.8816917771764565e-06, + "chamfer": 4.703446847997839e-06, + "track": 1.1782450428654556e-06, + "acceleration": 7.474998255929677e-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": 6.199891686264891e-06, + "observation_loss": 5.813721145386808e-06, + "chamfer": 4.677137440012302e-06, + "track": 1.1365839327481808e-06, + "acceleration": 3.8617045561295527e-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": 6.194800334924366e-06, + "observation_loss": 6.018245585437398e-06, + "chamfer": 4.864194124820642e-06, + "track": 1.154051574303594e-06, + "acceleration": 1.7655467843269435e-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": 6.4018386183306575e-06, + "observation_loss": 6.263217983359937e-06, + "chamfer": 5.070295173936756e-06, + "track": 1.1929230367968557e-06, + "acceleration": 1.3862040759704541e-07, + "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": 6.579605269507738e-06, + "observation_loss": 6.517391284432961e-06, + "chamfer": 5.291403340379475e-06, + "track": 1.2259878303666483e-06, + "acceleration": 6.221390691507622e-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": 6.839198704255978e-06, + "observation_loss": 6.753143225068925e-06, + "chamfer": 5.496037374541629e-06, + "track": 1.2571058505272958e-06, + "acceleration": 8.605544365991591e-08, + "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": 6.94232130626915e-06, + "observation_loss": 6.880111868667882e-06, + "chamfer": 5.612176664726576e-06, + "track": 1.2679354313149815e-06, + "acceleration": 6.220959392067016e-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": 7.151928002713248e-06, + "observation_loss": 7.0420528572867624e-06, + "chamfer": 5.751041499024723e-06, + "track": 1.2910111308883643e-06, + "acceleration": 1.098752093753319e-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": 7.1264607868215535e-06, + "observation_loss": 6.9368652475532144e-06, + "chamfer": 5.6718654377618805e-06, + "track": 1.264999809791334e-06, + "acceleration": 1.895956671660315e-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": 6.8863096203131136e-06, + "observation_loss": 6.647695045103319e-06, + "chamfer": 5.456950020743534e-06, + "track": 1.190745024359785e-06, + "acceleration": 2.38614404679538e-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": 6.573587597813457e-06, + "observation_loss": 6.4592381932016e-06, + "chamfer": 5.321002390701324e-06, + "track": 1.1382359161871136e-06, + "acceleration": 1.1434951829869533e-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": 6.5489980443089735e-06, + "observation_loss": 6.447422492783517e-06, + "chamfer": 5.315168436936801e-06, + "track": 1.1322540558467153e-06, + "acceleration": 1.0157539520605496e-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": 6.628131359320832e-06, + "observation_loss": 6.477724127762485e-06, + "chamfer": 5.3371891226561274e-06, + "track": 1.1405352324800333e-06, + "acceleration": 1.504073026126207e-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": 6.51104028293048e-06, + "observation_loss": 6.370744358719094e-06, + "chamfer": 5.26083704244229e-06, + "track": 1.1099074299636413e-06, + "acceleration": 1.4029613737420732e-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": 6.253186256799381e-06, + "observation_loss": 6.10019651503535e-06, + "chamfer": 5.054993835074129e-06, + "track": 1.0452024525875458e-06, + "acceleration": 1.5298967070975777e-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": 6.121527803770732e-06, + "observation_loss": 5.9828498706338e-06, + "chamfer": 4.956346856488381e-06, + "track": 1.0265029004585813e-06, + "acceleration": 1.3867811787804385e-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": 6.366659363266081e-06, + "observation_loss": 6.22341167400009e-06, + "chamfer": 5.126317319081863e-06, + "track": 1.0970943549182266e-06, + "acceleration": 1.4324760400086234e-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": 6.909529020049376e-06, + "observation_loss": 6.635269528487697e-06, + "chamfer": 5.420273282652488e-06, + "track": 1.2149962458352093e-06, + "acceleration": 2.7425957682680746e-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": 7.174848633439979e-06, + "observation_loss": 6.8905196712876204e-06, + "chamfer": 5.598773896053899e-06, + "track": 1.2917456615468836e-06, + "acceleration": 2.8432879162210156e-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": 7.172950972744729e-06, + "observation_loss": 6.977575594646623e-06, + "chamfer": 5.670110112987459e-06, + "track": 1.3074655953460024e-06, + "acceleration": 1.9537522177870414e-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": 7.313265541597502e-06, + "observation_loss": 6.8754916355828755e-06, + "chamfer": 5.600817075901432e-06, + "track": 1.274674332307768e-06, + "acceleration": 4.3777399127975514e-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": 6.95977314535412e-06, + "observation_loss": 6.715108611388132e-06, + "chamfer": 5.485447218234185e-06, + "track": 1.2296615068407846e-06, + "acceleration": 2.4466442027915036e-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": 6.674310498056002e-06, + "observation_loss": 6.60594332657638e-06, + "chamfer": 5.407162916526431e-06, + "track": 1.1987802963631111e-06, + "acceleration": 6.836701516022003e-08, + "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": 6.7079358814226e-06, + "observation_loss": 6.654744538536761e-06, + "chamfer": 5.450007847684901e-06, + "track": 1.2047364634781843e-06, + "acceleration": 5.319114038115913e-08, + "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": 6.861565907456679e-06, + "observation_loss": 6.790395673306193e-06, + "chamfer": 5.560579666052945e-06, + "track": 1.2298162346269237e-06, + "acceleration": 7.117011335822099e-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": 7.186185484897578e-06, + "observation_loss": 7.0754967964603566e-06, + "chamfer": 5.770878033217741e-06, + "track": 1.3046187632426154e-06, + "acceleration": 1.106885321178197e-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": 7.406221357086906e-06, + "observation_loss": 7.31750697013922e-06, + "chamfer": 5.953608706477098e-06, + "track": 1.3638980362884467e-06, + "acceleration": 8.871448642366886e-08, + "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": 7.803572771081235e-06, + "observation_loss": 7.666598321520723e-06, + "chamfer": 6.208907507243566e-06, + "track": 1.4576907005903195e-06, + "acceleration": 1.369744069279477e-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": 8.013756087166257e-06, + "observation_loss": 7.962664312799461e-06, + "chamfer": 6.419576038751984e-06, + "track": 1.543087932986964e-06, + "acceleration": 5.109194844976628e-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": 8.373552191187628e-06, + "observation_loss": 8.022640940907877e-06, + "chamfer": 6.467842922575073e-06, + "track": 1.5547976772722905e-06, + "acceleration": 3.5091105132778466e-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": 8.100236300379038e-06, + "observation_loss": 7.999597073649056e-06, + "chamfer": 6.471464530477533e-06, + "track": 1.5281324294846854e-06, + "acceleration": 1.0063966016105041e-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": 8.334766789630521e-06, + "observation_loss": 8.15701514511602e-06, + "chamfer": 6.588250926142791e-06, + "track": 1.5687643326600664e-06, + "acceleration": 1.7775123239971435e-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": 8.759731827012729e-06, + "observation_loss": 8.546816388843581e-06, + "chamfer": 6.863143880764255e-06, + "track": 1.6836727354530012e-06, + "acceleration": 2.1291506868692522e-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": 9.008090273709968e-06, + "observation_loss": 8.870591955201235e-06, + "chamfer": 7.0839323598193005e-06, + "track": 1.786659709068772e-06, + "acceleration": 1.3749819061104063e-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": 9.106213838094845e-06, + "observation_loss": 9.006057553051505e-06, + "chamfer": 7.1597264650336e-06, + "track": 1.8463309743310674e-06, + "acceleration": 1.0015640583560526e-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": 9.21760693017859e-06, + "observation_loss": 9.158890861726832e-06, + "chamfer": 7.255949185491772e-06, + "track": 1.9029416762350593e-06, + "acceleration": 5.871567054782645e-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": 9.264813343179412e-06, + "observation_loss": 9.179796506941784e-06, + "chamfer": 7.265949534485117e-06, + "track": 1.913846745082992e-06, + "acceleration": 8.501669412908086e-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": 9.222756489180028e-06, + "observation_loss": 9.144015166384634e-06, + "chamfer": 7.2402194746246096e-06, + "track": 1.9037959191336995e-06, + "acceleration": 7.874146490394196e-08, + "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": 9.289719855587464e-06, + "observation_loss": 9.088467777473852e-06, + "chamfer": 7.197812919912394e-06, + "track": 1.8906549712482956e-06, + "acceleration": 2.0125224864386837e-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": 9.51066795096267e-06, + "observation_loss": 9.376087291457225e-06, + "chamfer": 7.3879882620531134e-06, + "track": 1.9880988020304358e-06, + "acceleration": 1.3458095793339453e-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": 1.0018050488724839e-05, + "observation_loss": 9.933752153301612e-06, + "chamfer": 7.743718015262857e-06, + "track": 2.1900341380387545e-06, + "acceleration": 8.429874753801414e-08, + "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": 1.0629923053784296e-05, + "observation_loss": 1.0374648809374776e-05, + "chamfer": 8.036645340325776e-06, + "track": 2.3380034690489992e-06, + "acceleration": 2.552746138917428e-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": 1.0316628504369874e-05, + "observation_loss": 1.0191844012297224e-05, + "chamfer": 7.919748895801604e-06, + "track": 2.272094889121945e-06, + "acceleration": 1.247844920726493e-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": 9.997289453167468e-06, + "observation_loss": 9.839999620453455e-06, + "chamfer": 7.700839887547772e-06, + "track": 2.139159732905682e-06, + "acceleration": 1.5728954849691945e-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": 9.625345228414517e-06, + "observation_loss": 9.579855941410642e-06, + "chamfer": 7.530249604315031e-06, + "track": 2.0496065644692862e-06, + "acceleration": 4.548934740000732e-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": 9.390712875756435e-06, + "observation_loss": 9.332334229839034e-06, + "chamfer": 7.3491323746566195e-06, + "track": 1.9832023099297658e-06, + "acceleration": 5.8378592626695536e-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": 9.385425983055029e-06, + "observation_loss": 9.319441232946701e-06, + "chamfer": 7.3306559897901025e-06, + "track": 1.9887850157829234e-06, + "acceleration": 6.598443036409662e-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": 9.468076314078644e-06, + "observation_loss": 9.377437891089357e-06, + "chamfer": 7.363830718531972e-06, + "track": 2.0136076273047365e-06, + "acceleration": 9.063797534736295e-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": 9.428570592717733e-06, + "observation_loss": 9.367316124553327e-06, + "chamfer": 7.351713520620251e-06, + "track": 2.015602831306751e-06, + "acceleration": 6.125463158923594e-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": 9.515123565506656e-06, + "observation_loss": 9.376928574056365e-06, + "chamfer": 7.333966550504556e-06, + "track": 2.0429617961781332e-06, + "acceleration": 1.3819476407661568e-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": 9.698394023871515e-06, + "observation_loss": 9.406378921994474e-06, + "chamfer": 7.350198302447097e-06, + "track": 2.056180392173701e-06, + "acceleration": 2.920148460816563e-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": 1.0098650818690658e-05, + "observation_loss": 9.481485903961584e-06, + "chamfer": 7.373401331278728e-06, + "track": 2.1080850274302065e-06, + "acceleration": 6.171653694764245e-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": 1.0381502761447337e-05, + "observation_loss": 9.555475116940215e-06, + "chamfer": 7.4190693339915015e-06, + "track": 2.136405328201363e-06, + "acceleration": 8.260276445071213e-07, + "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": 9.954781489796005e-06, + "observation_loss": 9.572338967700489e-06, + "chamfer": 7.428046501445351e-06, + "track": 2.144292011507787e-06, + "acceleration": 3.82442237878422e-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": 9.829576811171137e-06, + "observation_loss": 9.706294804345816e-06, + "chamfer": 7.524085503973765e-06, + "track": 2.182209755119402e-06, + "acceleration": 1.232816089213884e-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": 9.947988473868463e-06, + "observation_loss": 9.86073246167507e-06, + "chamfer": 7.620899850735441e-06, + "track": 2.2398330656869803e-06, + "acceleration": 8.725605482595711e-08, + "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": 1.015382440527901e-05, + "observation_loss": 1.0088492672366556e-05, + "chamfer": 7.75992975832196e-06, + "track": 2.3285629140445963e-06, + "acceleration": 6.533153396048874e-08, + "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": 1.0169414963456802e-05, + "observation_loss": 1.0109839422511868e-05, + "chamfer": 7.76824072090676e-06, + "track": 2.3415987016051076e-06, + "acceleration": 5.95754556798056e-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": 1.0256371751893312e-05, + "observation_loss": 1.0086052498081699e-05, + "chamfer": 7.736472070973832e-06, + "track": 2.349580427107867e-06, + "acceleration": 1.7031965171554475e-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": 1.013171913655242e-05, + "observation_loss": 1.0032868885900825e-05, + "chamfer": 7.658340109628625e-06, + "track": 2.3745285488985246e-06, + "acceleration": 9.884995222364523e-08, + "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": 1.002816679829266e-05, + "observation_loss": 9.953304470400326e-06, + "chamfer": 7.5792981988342945e-06, + "track": 2.3740062715660315e-06, + "acceleration": 7.48624060520342e-08, + "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": 1.003561555990018e-05, + "observation_loss": 9.816708370635752e-06, + "chamfer": 7.49292894397513e-06, + "track": 2.323779199286946e-06, + "acceleration": 2.1890738821639388e-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": 1.0175386705668643e-05, + "observation_loss": 9.632316505303606e-06, + "chamfer": 7.39165443519596e-06, + "track": 2.240661842733971e-06, + "acceleration": 5.430699729913613e-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": 9.888342901831493e-06, + "observation_loss": 9.582954589859582e-06, + "chamfer": 7.359833944065031e-06, + "track": 2.223120191047201e-06, + "acceleration": 3.0538862461071403e-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": 9.773738383955788e-06, + "observation_loss": 9.581099220667966e-06, + "chamfer": 7.369217655650573e-06, + "track": 2.2118813376437174e-06, + "acceleration": 1.9263914907696744e-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": 9.798936844163109e-06, + "observation_loss": 9.650977517594583e-06, + "chamfer": 7.422795988532016e-06, + "track": 2.2281815290625673e-06, + "acceleration": 1.4795955394220073e-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": 9.833340300247073e-06, + "observation_loss": 9.770105862116907e-06, + "chamfer": 7.50405570215662e-06, + "track": 2.266050387333962e-06, + "acceleration": 6.323452339529467e-08, + "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": 9.952425898518413e-06, + "observation_loss": 9.918430805555545e-06, + "chamfer": 7.594907401653472e-06, + "track": 2.3235229491547216e-06, + "acceleration": 3.399544823423639e-08, + "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": 1.009214247460477e-05, + "observation_loss": 1.0040141205536202e-05, + "chamfer": 7.64151627663523e-06, + "track": 2.398624474153621e-06, + "acceleration": 5.200149288953071e-08, + "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": 1.0325685252610128e-05, + "observation_loss": 1.0214055691903923e-05, + "chamfer": 7.722190275671892e-06, + "track": 2.491865416232031e-06, + "acceleration": 1.1162948965193209e-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": 1.081723348761443e-05, + "observation_loss": 1.058210909832269e-05, + "chamfer": 7.908416591817513e-06, + "track": 2.6736929612525273e-06, + "acceleration": 2.3512427560490323e-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": 1.1370280844857916e-05, + "observation_loss": 1.096652340493165e-05, + "chamfer": 8.105193955998402e-06, + "track": 2.861329221559572e-06, + "acceleration": 4.0375704202233464e-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": 1.1494803402456455e-05, + "observation_loss": 1.1309796718705911e-05, + "chamfer": 8.295319275930524e-06, + "track": 3.0144776701490628e-06, + "acceleration": 1.8500639953344944e-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": 1.158388658950571e-05, + "observation_loss": 1.1494819773361087e-05, + "chamfer": 8.383564818359446e-06, + "track": 3.111254955001641e-06, + "acceleration": 8.906719983770017e-08, + "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": 1.1945604455831926e-05, + "observation_loss": 1.1756224921555258e-05, + "chamfer": 8.544044248992577e-06, + "track": 3.212181127310032e-06, + "acceleration": 1.89379633752651e-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": 1.2310623787925579e-05, + "observation_loss": 1.20984623208642e-05, + "chamfer": 8.740371413296089e-06, + "track": 3.3580906801944366e-06, + "acceleration": 2.1216163759163464e-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": 1.2407875146891456e-05, + "observation_loss": 1.2332033293205313e-05, + "chamfer": 8.862830327416304e-06, + "track": 3.4692034205363598e-06, + "acceleration": 7.584229422263888e-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": 1.2522019460448064e-05, + "observation_loss": 1.243956467078533e-05, + "chamfer": 8.912951670936309e-06, + "track": 3.5266134545963723e-06, + "acceleration": 8.245467597589595e-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": 1.2575686014315579e-05, + "observation_loss": 1.2508657164289616e-05, + "chamfer": 8.952148164098617e-06, + "track": 3.556509227564675e-06, + "acceleration": 6.70287718662621e-08, + "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": 1.2589848665811587e-05, + "observation_loss": 1.2535194400697947e-05, + "chamfer": 8.94377262738999e-06, + "track": 3.5914222280553076e-06, + "acceleration": 5.465445696017923e-08, + "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": 1.2609736586455256e-05, + "observation_loss": 1.2554712156997994e-05, + "chamfer": 8.930099284043536e-06, + "track": 3.6246131003281334e-06, + "acceleration": 5.5024436562689516e-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": 1.2668953786487691e-05, + "observation_loss": 1.2540488569356967e-05, + "chamfer": 8.93007108970778e-06, + "track": 3.6104177070228616e-06, + "acceleration": 1.2846503238961304e-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": 1.2620006600627676e-05, + "observation_loss": 1.2502335266617592e-05, + "chamfer": 8.908433301257901e-06, + "track": 3.593902192733367e-06, + "acceleration": 1.1767159691089546e-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": 1.2488300853874534e-05, + "observation_loss": 1.2474013601604383e-05, + "chamfer": 8.878517292032484e-06, + "track": 3.595496082198224e-06, + "acceleration": 1.428728335639562e-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": 1.2490441804402508e-05, + "observation_loss": 1.2434518794179894e-05, + "chamfer": 8.843193427310325e-06, + "track": 3.591324912122218e-06, + "acceleration": 5.592329088699444e-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": 1.2503745892900042e-05, + "observation_loss": 1.2390402844175696e-05, + "chamfer": 8.80655261426e-06, + "track": 3.583850229915697e-06, + "acceleration": 1.1334299898635436e-07, + "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": 1.240119308931753e-05, + "observation_loss": 1.229118242918048e-05, + "chamfer": 8.754098416829947e-06, + "track": 3.537084467097884e-06, + "acceleration": 1.1001047539593856e-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": 1.2141643310314976e-05, + "observation_loss": 1.2092268661945127e-05, + "chamfer": 8.646096830489114e-06, + "track": 3.446172286203364e-06, + "acceleration": 4.937468034427184e-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": 9.787679571123439e-06, + "chamfer_mean": 6.768201409101948e-06, + "track_mean": 1.977111833362244e-06, + "acceleration_mean": 1.042366304225088e-06, + "observation_score": 8.74531322618092e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4293348330011213 + }, + "score_arrays_file": "pass_scores/pass_end_0111.npz", + "score_arrays_sha256": "733b9ab13e4cd8f0eda58f7fb0fd9547b17e89e92fdb67e157c95a6f730543b9" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0112.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0112.json new file mode 100644 index 0000000000000000000000000000000000000000..7dcb5902ff01ca778372ba882991e212fe9ed875 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0112.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10752, + "completed_passes": 112, + "snapshot": "pass_end_0112", + "candidate": true, + "snapshot_arrays_sha256": "be6e2176f395145b1b3d1e5dfcb4a4b1435770963afdd2eb93b4a0c8752b686c", + "score": 8.734489843694368e-06, + "score_result": { + "score": 8.734489843694368e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.981183115480235e-06, + 3.384073806955712e-06, + 3.877903509419411e-06, + 4.933273430651752e-06, + 5.861370937054744e-06, + 6.344385383272311e-06, + 6.390021553670522e-06, + 6.120571015344467e-06, + 5.8816917771764565e-06, + 5.810923539684154e-06, + 6.009947355778422e-06, + 6.251148533920059e-06, + 6.502973519673105e-06, + 6.735789611411747e-06, + 6.861490874143783e-06, + 7.020542852842482e-06, + 6.916356596775586e-06, + 6.62631418890669e-06, + 6.438488526328001e-06, + 6.4254459175572265e-06, + 6.454365575336851e-06, + 6.34649359199102e-06, + 6.077686066419119e-06, + 5.960874204902211e-06, + 6.198184564709663e-06, + 6.608976036659442e-06, + 6.866163857921492e-06, + 6.954458058316959e-06, + 6.854653292975854e-06, + 6.695212505292147e-06, + 6.586879862879869e-06, + 6.637227670580614e-06, + 6.77329080644995e-06, + 7.058330993459094e-06, + 7.3010846790566575e-06, + 7.650342922715936e-06, + 7.947025551402476e-06, + 8.00749876361806e-06, + 7.983134310052264e-06, + 8.138213161146268e-06, + 8.524892109562643e-06, + 8.849270670907572e-06, + 8.98564849194372e-06, + 9.138241694017779e-06, + 9.160094123217277e-06, + 9.12554060050752e-06, + 9.071559361473192e-06, + 9.360262993141077e-06, + 9.918970135913696e-06, + 1.036008688970469e-05, + 1.0177756848861463e-05, + 9.826826499192975e-06, + 9.567060260451399e-06, + 9.31917384150438e-06, + 9.30541500565596e-06, + 9.363347999169491e-06, + 9.353953828394879e-06, + 9.36348078539595e-06, + 9.393402251589578e-06, + 9.468364623899106e-06, + 9.543839951220434e-06, + 9.561996193951927e-06, + 9.697226232674439e-06, + 9.854199561232235e-06, + 1.0084830137202516e-05, + 1.010879350360483e-05, + 1.0086414476973005e-05, + 1.0034655133495107e-05, + 9.956252142728772e-06, + 9.819594197324477e-06, + 9.635027709009591e-06, + 9.585392945155036e-06, + 9.582478014635853e-06, + 9.651252184994519e-06, + 9.769299140316434e-06, + 9.916167073242832e-06, + 1.0037055290013086e-05, + 1.0210783329966944e-05, + 1.0579865374893416e-05, + 1.09649081423413e-05, + 1.1308895409456454e-05, + 1.1493937563500367e-05, + 1.1754013030440547e-05, + 1.2095971214876045e-05, + 1.2330472600297071e-05, + 1.2437924851838034e-05, + 1.2506387975008693e-05, + 1.2532587788882665e-05, + 1.2551498002721928e-05, + 1.2537796465039719e-05, + 1.2498997421062086e-05, + 1.247174441232346e-05, + 1.2432352377800271e-05, + 1.2389223229547497e-05, + 1.2289752703509293e-05, + 1.2092097676941194e-05 + ] + ], + "episode_mean_losses": [ + 8.734489843694368e-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": 2.981183115480235e-06, + "observation_loss": 2.981183115480235e-06, + "chamfer": 2.528013965275022e-06, + "track": 4.531690933617938e-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": 4.639972030417994e-05, + "observation_loss": 3.384073806955712e-06, + "chamfer": 2.861874463633285e-06, + "track": 5.221992296355893e-07, + "acceleration": 4.3015646951971576e-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": 2.8409262085915543e-05, + "observation_loss": 3.877903509419411e-06, + "chamfer": 3.2670163818693254e-06, + "track": 6.108870138632483e-07, + "acceleration": 2.4531358576496132e-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": 1.3664563084603287e-05, + "observation_loss": 4.933273430651752e-06, + "chamfer": 4.08407368013286e-06, + "track": 8.491999210491485e-07, + "acceleration": 8.731289199204184e-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": 1.024267385218991e-05, + "observation_loss": 5.861370937054744e-06, + "chamfer": 4.7479106797254644e-06, + "track": 1.1134602573292796e-06, + "acceleration": 4.381302915135166e-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": 7.956739864312112e-06, + "observation_loss": 6.344385383272311e-06, + "chamfer": 5.0594921958690975e-06, + "track": 1.284893301090051e-06, + "acceleration": 1.6123545947266393e-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": 8.250181963376235e-06, + "observation_loss": 6.390021553670522e-06, + "chamfer": 5.0651478886720724e-06, + "track": 1.3248738923721248e-06, + "acceleration": 1.8601602960188757e-06, + "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": 7.145343715819763e-06, + "observation_loss": 6.120571015344467e-06, + "chamfer": 4.869285021413816e-06, + "track": 1.2512857665569754e-06, + "acceleration": 1.0247725867884583e-06, + "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": 6.6002339735860005e-06, + "observation_loss": 5.8816917771764565e-06, + "chamfer": 4.703140348283341e-06, + "track": 1.1785513152062776e-06, + "acceleration": 7.185424237832194e-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": 6.21706067249761e-06, + "observation_loss": 5.810923539684154e-06, + "chamfer": 4.675068339565769e-06, + "track": 1.1358549727447098e-06, + "acceleration": 4.061369907049084e-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": 6.205128102010349e-06, + "observation_loss": 6.009947355778422e-06, + "chamfer": 4.858443389821332e-06, + "track": 1.151504079643928e-06, + "acceleration": 1.9518077465363604e-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": 6.399866379069863e-06, + "observation_loss": 6.251148533920059e-06, + "chamfer": 5.0621397349459585e-06, + "track": 1.1890089126609382e-06, + "acceleration": 1.487176604086926e-07, + "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": 6.566772754013073e-06, + "observation_loss": 6.502973519673105e-06, + "chamfer": 5.281724497763207e-06, + "track": 1.2212487945362227e-06, + "acceleration": 6.379946171364281e-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": 6.830689017078839e-06, + "observation_loss": 6.735789611411747e-06, + "chamfer": 5.484124812937807e-06, + "track": 1.2516647984739393e-06, + "acceleration": 9.489952645935773e-08, + "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": 6.944042979739606e-06, + "observation_loss": 6.861490874143783e-06, + "chamfer": 5.598961706709815e-06, + "track": 1.2625291674339678e-06, + "acceleration": 8.255194927642151e-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": 7.139733952499228e-06, + "observation_loss": 7.020542852842482e-06, + "chamfer": 5.7352694966539275e-06, + "track": 1.285273469875392e-06, + "acceleration": 1.1919095754819864e-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": 7.109486887202365e-06, + "observation_loss": 6.916356596775586e-06, + "chamfer": 5.656718712998554e-06, + "track": 1.2596379974638694e-06, + "acceleration": 1.9313038990276254e-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": 6.869031949463533e-06, + "observation_loss": 6.62631418890669e-06, + "chamfer": 5.440772383735748e-06, + "track": 1.1855416914841044e-06, + "acceleration": 2.427179310870997e-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": 6.5546937548788264e-06, + "observation_loss": 6.438488526328001e-06, + "chamfer": 5.305137619870948e-06, + "track": 1.133350679083378e-06, + "acceleration": 1.1620506512599604e-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": 6.5314343373756856e-06, + "observation_loss": 6.4254459175572265e-06, + "chamfer": 5.298336873238441e-06, + "track": 1.1271091580056236e-06, + "acceleration": 1.0598864719213452e-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": 6.611723620153498e-06, + "observation_loss": 6.454365575336851e-06, + "chamfer": 5.319426691130502e-06, + "track": 1.1349386568326736e-06, + "acceleration": 1.57357931129809e-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": 6.490516625490272e-06, + "observation_loss": 6.34649359199102e-06, + "chamfer": 5.242214228928788e-06, + "track": 1.1042793630622327e-06, + "acceleration": 1.4402296244497848e-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": 6.233055501070339e-06, + "observation_loss": 6.077686066419119e-06, + "chamfer": 5.037527898821281e-06, + "track": 1.040158053911e-06, + "acceleration": 1.5536930675352778e-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": 6.097748610045528e-06, + "observation_loss": 5.960874204902211e-06, + "chamfer": 4.939312020724174e-06, + "track": 1.0215621841780376e-06, + "acceleration": 1.3687441935417155e-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": 6.338496405078331e-06, + "observation_loss": 6.198184564709663e-06, + "chamfer": 5.106768639961956e-06, + "track": 1.0914159247477073e-06, + "acceleration": 1.4031193984465062e-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": 6.883828973514028e-06, + "observation_loss": 6.608976036659442e-06, + "chamfer": 5.400250756792957e-06, + "track": 1.2087250524928095e-06, + "acceleration": 2.74853135806552e-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": 7.1532003858010285e-06, + "observation_loss": 6.866163857921492e-06, + "chamfer": 5.58040437681484e-06, + "track": 1.2857593674198142e-06, + "acceleration": 2.8703664156637387e-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": 7.150755209295312e-06, + "observation_loss": 6.954458058316959e-06, + "chamfer": 5.652510481013451e-06, + "track": 1.301947690990346e-06, + "acceleration": 1.9629709413493401e-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": 7.298939635802526e-06, + "observation_loss": 6.854653292975854e-06, + "chamfer": 5.584868631558493e-06, + "track": 1.269784434043686e-06, + "acceleration": 4.4428631440496247e-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": 6.945125733182067e-06, + "observation_loss": 6.695212505292147e-06, + "chamfer": 5.469940333568957e-06, + "track": 1.2252722854100284e-06, + "acceleration": 2.499132847333385e-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": 6.6564061853569e-06, + "observation_loss": 6.586879862879869e-06, + "chamfer": 5.392308594309725e-06, + "track": 1.1945710411964683e-06, + "acceleration": 6.952642905844186e-08, + "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": 6.690332611469785e-06, + "observation_loss": 6.637227670580614e-06, + "chamfer": 5.436378160084132e-06, + "track": 1.2008493968096445e-06, + "acceleration": 5.3104876940324175e-08, + "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": 6.8432445914368145e-06, + "observation_loss": 6.77329080644995e-06, + "chamfer": 5.547090950130951e-06, + "track": 1.2261996289453236e-06, + "acceleration": 6.99537139325912e-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": 7.168668162194081e-06, + "observation_loss": 7.058330993459094e-06, + "chamfer": 5.75739613850601e-06, + "track": 1.3009348549530841e-06, + "acceleration": 1.1033723978925991e-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": 7.389471193164354e-06, + "observation_loss": 7.3010846790566575e-06, + "chamfer": 5.940817572991364e-06, + "track": 1.360266992378456e-06, + "acceleration": 8.838654252940614e-08, + "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": 7.787003596604336e-06, + "observation_loss": 7.650342922715936e-06, + "chamfer": 6.196529284352437e-06, + "track": 1.4538139794240124e-06, + "acceleration": 1.3666060283412662e-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": 7.998176442924887e-06, + "observation_loss": 7.947025551402476e-06, + "chamfer": 6.407903129002079e-06, + "track": 1.5391221950267209e-06, + "acceleration": 5.1151136659655094e-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": 8.358564627997112e-06, + "observation_loss": 8.00749876361806e-06, + "chamfer": 6.456933533627307e-06, + "track": 1.550565002617077e-06, + "acceleration": 3.510660064875992e-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": 8.086460184131283e-06, + "observation_loss": 7.983134310052264e-06, + "chamfer": 6.459636097133625e-06, + "track": 1.523498326605477e-06, + "acceleration": 1.0332563959991603e-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": 8.319860171468463e-06, + "observation_loss": 8.138213161146268e-06, + "chamfer": 6.574797680514166e-06, + "track": 1.5634153669452644e-06, + "acceleration": 1.8164681137022853e-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": 8.74029046826763e-06, + "observation_loss": 8.524892109562643e-06, + "chamfer": 6.847444637969602e-06, + "track": 1.67744701684569e-06, + "acceleration": 2.1539803185532946e-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": 8.988151421363e-06, + "observation_loss": 8.849270670907572e-06, + "chamfer": 7.068733793857973e-06, + "track": 1.7805368770495988e-06, + "acceleration": 1.3888032412978646e-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": 9.084837984119076e-06, + "observation_loss": 8.98564849194372e-06, + "chamfer": 7.145204108383041e-06, + "track": 1.8404443835606799e-06, + "acceleration": 9.918926480168011e-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": 9.196535756927915e-06, + "observation_loss": 9.138241694017779e-06, + "chamfer": 7.241298135340912e-06, + "track": 1.89694389973738e-06, + "acceleration": 5.829431515280703e-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": 9.245710316463374e-06, + "observation_loss": 9.160094123217277e-06, + "chamfer": 7.251871920743724e-06, + "track": 1.9082226572209038e-06, + "acceleration": 8.561636377635296e-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": 9.2046848294558e-06, + "observation_loss": 9.12554060050752e-06, + "chamfer": 7.227039986901218e-06, + "track": 1.898500613606302e-06, + "acceleration": 7.914466948477639e-08, + "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": 9.273306204704568e-06, + "observation_loss": 9.071559361473192e-06, + "chamfer": 7.185739832493709e-06, + "track": 1.8858198700399953e-06, + "acceleration": 2.0174675796624797e-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": 9.494601727055851e-06, + "observation_loss": 9.360262993141077e-06, + "chamfer": 7.376660505542532e-06, + "track": 1.9836029423458967e-06, + "acceleration": 1.3433836443255132e-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": 1.0002941962738987e-05, + "observation_loss": 9.918970135913696e-06, + "chamfer": 7.733410711807664e-06, + "track": 2.185559651479707e-06, + "acceleration": 8.397199025012014e-08, + "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": 1.0615210157993715e-05, + "observation_loss": 1.036008688970469e-05, + "chamfer": 8.026539944694377e-06, + "track": 2.3335471723839873e-06, + "acceleration": 2.551233819758636e-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": 1.0302156624675263e-05, + "observation_loss": 1.0177756848861463e-05, + "chamfer": 7.909910891612526e-06, + "track": 2.2678461846226128e-06, + "acceleration": 1.2439960528354277e-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": 9.984298230847344e-06, + "observation_loss": 9.826826499192975e-06, + "chamfer": 7.691672180953901e-06, + "track": 2.1351540908653988e-06, + "acceleration": 1.5747195902804378e-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": 9.612394933355972e-06, + "observation_loss": 9.567060260451399e-06, + "chamfer": 7.521467523474712e-06, + "track": 2.045592282229336e-06, + "acceleration": 4.533447395260737e-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": 9.377078640682157e-06, + "observation_loss": 9.31917384150438e-06, + "chamfer": 7.339949661400169e-06, + "track": 1.9792244074778864e-06, + "acceleration": 5.7905207739850084e-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": 9.371266060043126e-06, + "observation_loss": 9.30541500565596e-06, + "chamfer": 7.321064913412556e-06, + "track": 1.984350092243403e-06, + "acceleration": 6.585099754374824e-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": 9.453671736991964e-06, + "observation_loss": 9.363347999169491e-06, + "chamfer": 7.35422145226039e-06, + "track": 2.0091267742827768e-06, + "acceleration": 9.0324114410123e-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": 9.414838132215664e-06, + "observation_loss": 9.353953828394879e-06, + "chamfer": 7.342709523072699e-06, + "track": 2.011244532695855e-06, + "acceleration": 6.088402670911819e-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": 9.502027751295827e-06, + "observation_loss": 9.36348078539595e-06, + "chamfer": 7.324939360842109e-06, + "track": 2.0385409698064905e-06, + "acceleration": 1.3854742064722814e-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": 9.685621080279816e-06, + "observation_loss": 9.393402251589578e-06, + "chamfer": 7.34171999283717e-06, + "track": 2.0516822587524075e-06, + "acceleration": 2.9221874342511e-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": 1.0085818757943343e-05, + "observation_loss": 9.468364623899106e-06, + "chamfer": 7.364930297626415e-06, + "track": 2.1034340988990152e-06, + "acceleration": 6.17454304574494e-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": 1.0371577445766889e-05, + "observation_loss": 9.543839951220434e-06, + "chamfer": 7.4119516284554265e-06, + "track": 2.131888550138683e-06, + "acceleration": 8.277370397991035e-07, + "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": 9.947116268449463e-06, + "observation_loss": 9.561996193951927e-06, + "chamfer": 7.421748250635574e-06, + "track": 2.140248170690029e-06, + "acceleration": 3.8512018818437355e-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": 9.821415005717427e-06, + "observation_loss": 9.697226232674439e-06, + "chamfer": 7.518422535213176e-06, + "track": 2.1788036974612623e-06, + "acceleration": 1.2418914252521063e-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": 9.941982170857955e-06, + "observation_loss": 9.854199561232235e-06, + "chamfer": 7.6167716542840935e-06, + "track": 2.237428134321817e-06, + "acceleration": 8.778287963195908e-08, + "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": 1.014984809444286e-05, + "observation_loss": 1.0084830137202516e-05, + "chamfer": 7.757610546832439e-06, + "track": 2.327219362996402e-06, + "acceleration": 6.50179572403431e-08, + "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": 1.0167062100663316e-05, + "observation_loss": 1.010879350360483e-05, + "chamfer": 7.767600436636712e-06, + "track": 2.341193521715468e-06, + "acceleration": 5.826894167171304e-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": 1.0257336725771893e-05, + "observation_loss": 1.0086414476973005e-05, + "chamfer": 7.73672763898503e-06, + "track": 2.3496870653616497e-06, + "acceleration": 1.7092267512452963e-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": 1.0133701835002284e-05, + "observation_loss": 1.0034655133495107e-05, + "chamfer": 7.659529728698544e-06, + "track": 2.375124950049212e-06, + "acceleration": 9.904680098316021e-08, + "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": 1.003137367661111e-05, + "observation_loss": 9.956252142728772e-06, + "chamfer": 7.581269983347738e-06, + "track": 2.3749823867547093e-06, + "acceleration": 7.512139887921876e-08, + "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": 1.0039607332146261e-05, + "observation_loss": 9.819594197324477e-06, + "chamfer": 7.494758847315097e-06, + "track": 2.324835804756731e-06, + "acceleration": 2.200128932372536e-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": 1.0180743629462086e-05, + "observation_loss": 9.635027709009591e-06, + "chamfer": 7.393471605610102e-06, + "track": 2.2415563307731645e-06, + "acceleration": 5.45715977295913e-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": 9.892680282064248e-06, + "observation_loss": 9.585392945155036e-06, + "chamfer": 7.361405096162343e-06, + "track": 2.2239880763663677e-06, + "acceleration": 3.072877348131442e-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": 9.77469881036086e-06, + "observation_loss": 9.582478014635853e-06, + "chamfer": 7.369867034867639e-06, + "track": 2.2126114345155656e-06, + "acceleration": 1.9222089520098962e-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": 9.7948795882985e-06, + "observation_loss": 9.651252184994519e-06, + "chamfer": 7.4227464210707694e-06, + "track": 2.2285057639237493e-06, + "acceleration": 1.436273748822714e-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": 9.83208701654803e-06, + "observation_loss": 9.769299140316434e-06, + "chamfer": 7.50341450839187e-06, + "track": 2.265885086671915e-06, + "acceleration": 6.278796149672417e-08, + "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": 9.950506864697672e-06, + "observation_loss": 9.916167073242832e-06, + "chamfer": 7.593484042445198e-06, + "track": 2.322682803423959e-06, + "acceleration": 3.433944328889993e-08, + "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": 1.009057268674951e-05, + "observation_loss": 1.0037055290013086e-05, + "chamfer": 7.639562682015821e-06, + "track": 2.3974926079972647e-06, + "acceleration": 5.351724396973623e-08, + "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": 1.032379350363044e-05, + "observation_loss": 1.0210783329966944e-05, + "chamfer": 7.72026032791473e-06, + "track": 2.4905232294258894e-06, + "acceleration": 1.1301003155494982e-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": 1.0800434210977983e-05, + "observation_loss": 1.0579865374893416e-05, + "chamfer": 7.907176041044295e-06, + "track": 2.6726891064754454e-06, + "acceleration": 2.2056848081319913e-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": 1.1300770893285517e-05, + "observation_loss": 1.09649081423413e-05, + "chamfer": 8.104217158688698e-06, + "track": 2.860690528905252e-06, + "acceleration": 3.358625804139592e-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": 1.1480720786494203e-05, + "observation_loss": 1.1308895409456454e-05, + "chamfer": 8.294837243738584e-06, + "track": 3.014058620465221e-06, + "acceleration": 1.7182550493544113e-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": 1.1585901120270137e-05, + "observation_loss": 1.1493937563500367e-05, + "chamfer": 8.383039130421821e-06, + "track": 3.1108982057048706e-06, + "acceleration": 9.196391204113752e-08, + "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": 1.194731430587126e-05, + "observation_loss": 1.1754013030440547e-05, + "chamfer": 8.542883733753115e-06, + "track": 3.2111288419400807e-06, + "acceleration": 1.9330154543695244e-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": 1.2310889360378496e-05, + "observation_loss": 1.2095971214876045e-05, + "chamfer": 8.739277291169856e-06, + "track": 3.3566936963325134e-06, + "acceleration": 2.1491769075510092e-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": 1.2407467693265062e-05, + "observation_loss": 1.2330472600297071e-05, + "chamfer": 8.862672075338196e-06, + "track": 3.467800524958875e-06, + "acceleration": 7.699536297423037e-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": 1.2520856216724496e-05, + "observation_loss": 1.2437924851838034e-05, + "chamfer": 8.912662451621145e-06, + "track": 3.5252624002168886e-06, + "acceleration": 8.293164199812963e-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": 1.2574253560160287e-05, + "observation_loss": 1.2506387975008693e-05, + "chamfer": 8.951473319029901e-06, + "track": 3.554914428605116e-06, + "acceleration": 6.786535777791869e-08, + "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": 1.2588406207214575e-05, + "observation_loss": 1.2532587788882665e-05, + "chamfer": 8.942796739574987e-06, + "track": 3.589790594560327e-06, + "acceleration": 5.5818031086118935e-08, + "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": 1.2608644283318426e-05, + "observation_loss": 1.2551498002721928e-05, + "chamfer": 8.928804163588211e-06, + "track": 3.6226940665073926e-06, + "acceleration": 5.714619888408379e-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": 1.2667459486692678e-05, + "observation_loss": 1.2537796465039719e-05, + "chamfer": 8.929097020882182e-06, + "track": 3.6086996715312125e-06, + "acceleration": 1.2966287954441214e-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": 1.2615711966645904e-05, + "observation_loss": 1.2498997421062086e-05, + "chamfer": 8.907136361813173e-06, + "track": 3.591861059248913e-06, + "acceleration": 1.1671445321326246e-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": 1.2486219020502176e-05, + "observation_loss": 1.247174441232346e-05, + "chamfer": 8.877568689058535e-06, + "track": 3.5941754958912497e-06, + "acceleration": 1.4475045162498645e-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": 1.2488422726164572e-05, + "observation_loss": 1.2432352377800271e-05, + "chamfer": 8.842222086968832e-06, + "track": 3.5901300634577638e-06, + "acceleration": 5.6070621923254294e-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": 1.2502905519795604e-05, + "observation_loss": 1.2389223229547497e-05, + "chamfer": 8.80632251210045e-06, + "track": 3.5829009448207216e-06, + "acceleration": 1.1368250341092789e-07, + "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": 1.240119308931753e-05, + "observation_loss": 1.2289752703509293e-05, + "chamfer": 8.753720976528712e-06, + "track": 3.5360321817279328e-06, + "acceleration": 1.1144022948883503e-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": 1.214151234307792e-05, + "observation_loss": 1.2092097676941194e-05, + "chamfer": 8.646466994832736e-06, + "track": 3.4456302273611072e-06, + "acceleration": 4.9415088909654514e-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": 9.773801352253031e-06, + "chamfer_mean": 6.760470559659855e-06, + "track_mean": 1.9740192887714634e-06, + "acceleration_mean": 1.0393115307631244e-06, + "observation_score": 8.734489843694368e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.428957652000463 + }, + "score_arrays_file": "pass_scores/pass_end_0112.npz", + "score_arrays_sha256": "6efe7f90dd49dd60ce2eedba4d58844be02894d7d05bc68135cc2f306840846f" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0113.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0113.json new file mode 100644 index 0000000000000000000000000000000000000000..13e66ab9a2370a64e63f21230a0bbcf279192460 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0113.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10848, + "completed_passes": 113, + "snapshot": "pass_end_0113", + "candidate": true, + "snapshot_arrays_sha256": "430b7bcf6eea040c9f0dc9c42aee86fd7a0bdb4d36629014cd33b781c60bd60e", + "score": 8.722468921954865e-06, + "score_result": { + "score": 8.722468921954865e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9797060960845556e-06, + 3.3816093036875827e-06, + 3.8709740692866035e-06, + 4.920025276078377e-06, + 5.846470230608247e-06, + 6.326058610284235e-06, + 6.378026228048839e-06, + 6.118672899901867e-06, + 5.879636773897801e-06, + 5.806743956782157e-06, + 6.000017492624465e-06, + 6.2372919273911975e-06, + 6.486490292445524e-06, + 6.716353254887508e-06, + 6.8431845647864975e-06, + 6.9990878728276584e-06, + 6.895939804962836e-06, + 6.606226634175982e-06, + 6.417859367502388e-06, + 6.404505256796256e-06, + 6.431906967918621e-06, + 6.3239031078410335e-06, + 6.055969606677536e-06, + 5.939009042776888e-06, + 6.173044312163256e-06, + 6.58264343655901e-06, + 6.841206868557492e-06, + 6.930774816282792e-06, + 6.833743100287393e-06, + 6.675771146547049e-06, + 6.568234766746173e-06, + 6.620162366743898e-06, + 6.75691626383923e-06, + 7.042099241516553e-06, + 7.284565981535707e-06, + 7.63398566050455e-06, + 7.93121216702275e-06, + 7.992316568561364e-06, + 7.965814802446403e-06, + 8.118876394291874e-06, + 8.503122444381006e-06, + 8.828182217257563e-06, + 8.965963388618547e-06, + 9.117894478549715e-06, + 9.140322617895436e-06, + 9.106745892495383e-06, + 9.054957445187028e-06, + 9.345552825834602e-06, + 9.906269042403437e-06, + 1.034819615597371e-05, + 1.0165780622628517e-05, + 9.81485572992824e-06, + 9.555362339597195e-06, + 9.30602618609555e-06, + 9.290685738960747e-06, + 9.347843842988368e-06, + 9.339304597233422e-06, + 9.349153515358921e-06, + 9.379836228617933e-06, + 9.454935934627429e-06, + 9.531834621157032e-06, + 9.551972652843688e-06, + 9.68897256825585e-06, + 9.847812179941684e-06, + 1.0081250366056338e-05, + 1.0107342859555501e-05, + 1.0085621397593059e-05, + 1.0034621482191142e-05, + 9.95756909105694e-06, + 9.820570994634181e-06, + 9.634420166548807e-06, + 9.583616702002473e-06, + 9.579719517205376e-06, + 9.646855687606148e-06, + 9.763569323695265e-06, + 9.908881111186929e-06, + 1.0028817087004427e-05, + 1.0202984412899241e-05, + 1.057373719959287e-05, + 1.0959115570585709e-05, + 1.1303740393486805e-05, + 1.1489006283227354e-05, + 1.1747406460926868e-05, + 1.2088958101230673e-05, + 1.232493195857387e-05, + 1.2432456060196273e-05, + 1.2499767763074487e-05, + 1.2526386854005978e-05, + 1.2545247955131344e-05, + 1.2531603715615347e-05, + 1.2491695997596253e-05, + 1.2464374776754994e-05, + 1.2426635294104926e-05, + 1.2384379260765854e-05, + 1.2285053344385233e-05, + 1.2088059520465322e-05 + ] + ], + "episode_mean_losses": [ + 8.722468921954865e-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": 2.9797060960845556e-06, + "observation_loss": 2.9797060960845556e-06, + "chamfer": 2.5267838736908743e-06, + "track": 4.529223076588096e-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": 4.629806790035218e-05, + "observation_loss": 3.3816093036875827e-06, + "chamfer": 2.8598294647963485e-06, + "track": 5.217798957346531e-07, + "acceleration": 4.291645745979622e-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": 2.830260928021744e-05, + "observation_loss": 3.8709740692866035e-06, + "chamfer": 3.261433221268817e-06, + "track": 6.095409617046244e-07, + "acceleration": 2.4431636120425537e-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": 1.3608108929474838e-05, + "observation_loss": 4.920025276078377e-06, + "chamfer": 4.074140633747447e-06, + "track": 8.458845286440919e-07, + "acceleration": 8.688083653396461e-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": 1.0223920980934054e-05, + "observation_loss": 5.846470230608247e-06, + "chamfer": 4.737983999802964e-06, + "track": 1.108486003431608e-06, + "acceleration": 4.3774507503258064e-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": 7.944959179440048e-06, + "observation_loss": 6.326058610284235e-06, + "chamfer": 5.047729246143717e-06, + "track": 1.2783294778273557e-06, + "acceleration": 1.6189004554689745e-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": 8.212859938794281e-06, + "observation_loss": 6.378026228048839e-06, + "chamfer": 5.057586804468883e-06, + "track": 1.3204393098931178e-06, + "acceleration": 1.8348340518059558e-06, + "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": 7.0950309236650355e-06, + "observation_loss": 6.118672899901867e-06, + "chamfer": 4.868088581133634e-06, + "track": 1.250584318768233e-06, + "acceleration": 9.763580237631686e-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": 6.570661298610503e-06, + "observation_loss": 5.879636773897801e-06, + "chamfer": 4.701438228948973e-06, + "track": 1.1781986586356652e-06, + "acceleration": 6.910244678692834e-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": 6.2433919083559886e-06, + "observation_loss": 5.806743956782157e-06, + "chamfer": 4.672064278565813e-06, + "track": 1.1346796782163437e-06, + "acceleration": 4.3664783788699424e-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": 6.2194885686039925e-06, + "observation_loss": 6.000017492624465e-06, + "chamfer": 4.8515357775613666e-06, + "track": 1.1484817150630988e-06, + "acceleration": 2.1947111861209123e-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": 6.396717708412325e-06, + "observation_loss": 6.2372919273911975e-06, + "chamfer": 5.052669621363748e-06, + "track": 1.1846223060274497e-06, + "acceleration": 1.5942566733428976e-07, + "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": 6.5542167249077465e-06, + "observation_loss": 6.486490292445524e-06, + "chamfer": 5.270413112157257e-06, + "track": 1.2160770666014287e-06, + "acceleration": 6.77264111459408e-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": 6.825079253758304e-06, + "observation_loss": 6.716353254887508e-06, + "chamfer": 5.470543783303583e-06, + "track": 1.245809585270763e-06, + "acceleration": 1.0872613387391539e-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": 6.948734153411351e-06, + "observation_loss": 6.8431845647864975e-06, + "chamfer": 5.5859914027678315e-06, + "track": 1.2571930483318283e-06, + "acceleration": 1.0554972362797344e-07, + "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": 7.123854629753623e-06, + "observation_loss": 6.9990878728276584e-06, + "chamfer": 5.719597993447678e-06, + "track": 1.2794898793799803e-06, + "acceleration": 1.2476689903451188e-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": 7.087149697326822e-06, + "observation_loss": 6.895939804962836e-06, + "chamfer": 5.641710686177248e-06, + "track": 1.2542293461592635e-06, + "acceleration": 1.91209792888003e-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": 6.848137218185002e-06, + "observation_loss": 6.606226634175982e-06, + "chamfer": 5.4256665862340014e-06, + "track": 1.1805601616288186e-06, + "acceleration": 2.4191047032218194e-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": 6.537869921885431e-06, + "observation_loss": 6.417859367502388e-06, + "chamfer": 5.28938471688889e-06, + "track": 1.1284748779871734e-06, + "acceleration": 1.2001059701560735e-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": 6.514917458844138e-06, + "observation_loss": 6.404505256796256e-06, + "chamfer": 5.28236705577001e-06, + "track": 1.1221383147130837e-06, + "acceleration": 1.1041232994557504e-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": 6.593314992642263e-06, + "observation_loss": 6.431906967918621e-06, + "chamfer": 5.302339559420943e-06, + "track": 1.1295672948108404e-06, + "acceleration": 1.6140802472364157e-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": 6.470681000791956e-06, + "observation_loss": 6.3239031078410335e-06, + "chamfer": 5.224873802944785e-06, + "track": 1.099029532269924e-06, + "acceleration": 1.4677790716177697e-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": 6.2127592173055746e-06, + "observation_loss": 6.055969606677536e-06, + "chamfer": 5.020662683818955e-06, + "track": 1.0353070365454187e-06, + "acceleration": 1.567895679954745e-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": 6.076920271880226e-06, + "observation_loss": 5.939009042776888e-06, + "chamfer": 4.922355401504319e-06, + "track": 1.016653641272569e-06, + "acceleration": 1.379114422661587e-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": 6.31240527582122e-06, + "observation_loss": 6.173044312163256e-06, + "chamfer": 5.087260433356278e-06, + "track": 1.0857837651201407e-06, + "acceleration": 1.3936117682078475e-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": 6.857411790406331e-06, + "observation_loss": 6.58264343655901e-06, + "chamfer": 5.380204129323829e-06, + "track": 1.202439420922019e-06, + "acceleration": 2.747683538473211e-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": 7.128123343136394e-06, + "observation_loss": 6.841206868557492e-06, + "chamfer": 5.561599664360983e-06, + "track": 1.2796070905096713e-06, + "acceleration": 2.8691650300061156e-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": 7.129138793970924e-06, + "observation_loss": 6.930774816282792e-06, + "chamfer": 5.634401077259099e-06, + "track": 1.2963736253368552e-06, + "acceleration": 1.9836409137496958e-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": 7.285242645593826e-06, + "observation_loss": 6.833743100287393e-06, + "chamfer": 5.568826964008622e-06, + "track": 1.2649161362787709e-06, + "acceleration": 4.51499346354467e-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": 6.929526080057258e-06, + "observation_loss": 6.675771146547049e-06, + "chamfer": 5.454722668218892e-06, + "track": 1.221048592014995e-06, + "acceleration": 2.537551324621745e-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": 6.638650575041538e-06, + "observation_loss": 6.568234766746173e-06, + "chamfer": 5.377719844545936e-06, + "track": 1.1905148085133987e-06, + "acceleration": 7.041584382250221e-08, + "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": 6.672848940070253e-06, + "observation_loss": 6.620162366743898e-06, + "chamfer": 5.423084530775668e-06, + "track": 1.19707783596823e-06, + "acceleration": 5.268660174806428e-08, + "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": 6.825832315371372e-06, + "observation_loss": 6.75691626383923e-06, + "chamfer": 5.534140655072406e-06, + "track": 1.2227754950799863e-06, + "acceleration": 6.891593784530414e-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": 7.152428224799223e-06, + "observation_loss": 7.042099241516553e-06, + "chamfer": 5.744632289861329e-06, + "track": 1.2974670653420617e-06, + "acceleration": 1.1032892643925152e-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": 7.3728738243517e-06, + "observation_loss": 7.284565981535707e-06, + "chamfer": 5.927954134676838e-06, + "track": 1.3566117331720307e-06, + "acceleration": 8.83077504454377e-08, + "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": 7.76972319727065e-06, + "observation_loss": 7.63398566050455e-06, + "chamfer": 6.184090580063639e-06, + "track": 1.4498950804409105e-06, + "acceleration": 1.3573750834439124e-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": 7.982953320606612e-06, + "observation_loss": 7.93121216702275e-06, + "chamfer": 6.396096978278365e-06, + "track": 1.5351153024312225e-06, + "acceleration": 5.1741483986234016e-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": 8.345235073647927e-06, + "observation_loss": 7.992316568561364e-06, + "chamfer": 6.445959570555715e-06, + "track": 1.5463572253793245e-06, + "acceleration": 3.5291853350827296e-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": 8.071816409938037e-06, + "observation_loss": 7.965814802446403e-06, + "chamfer": 6.4471269070054404e-06, + "track": 1.5186874406936113e-06, + "acceleration": 1.0600146538308763e-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": 8.303116374008823e-06, + "observation_loss": 8.118876394291874e-06, + "chamfer": 6.560940619237954e-06, + "track": 1.557935433993407e-06, + "acceleration": 1.8423978076498315e-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": 8.721067388250958e-06, + "observation_loss": 8.503122444381006e-06, + "chamfer": 6.831834070908371e-06, + "track": 1.6712884871594724e-06, + "acceleration": 2.1794461702029366e-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": 8.96828350960277e-06, + "observation_loss": 8.828182217257563e-06, + "chamfer": 7.053705303405877e-06, + "track": 1.774477254912199e-06, + "acceleration": 1.4010088023042044e-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": 9.064032383321319e-06, + "observation_loss": 8.965963388618547e-06, + "chamfer": 7.13120925865951e-06, + "track": 1.8347542436458752e-06, + "acceleration": 9.806867495854021e-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": 9.175879313261248e-06, + "observation_loss": 9.117894478549715e-06, + "chamfer": 7.226838988572126e-06, + "track": 1.8910554899775889e-06, + "acceleration": 5.798498037279387e-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": 9.225461326423101e-06, + "observation_loss": 9.140322617895436e-06, + "chamfer": 7.237703812279506e-06, + "track": 1.902619146676443e-06, + "acceleration": 8.513863747339201e-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": 9.1862684712396e-06, + "observation_loss": 9.106745892495383e-06, + "chamfer": 7.213609478640137e-06, + "track": 1.8931367549157585e-06, + "acceleration": 7.952277059075641e-08, + "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": 9.256677003577352e-06, + "observation_loss": 9.054957445187028e-06, + "chamfer": 7.173850463004783e-06, + "track": 1.8811073232427589e-06, + "acceleration": 2.0171999892681924e-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": 9.479198524786625e-06, + "observation_loss": 9.345552825834602e-06, + "chamfer": 7.366078534687404e-06, + "track": 1.979474518520874e-06, + "acceleration": 1.336461394885191e-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": 9.99048825178761e-06, + "observation_loss": 9.906269042403437e-06, + "chamfer": 7.724470378889237e-06, + "track": 2.181798890887876e-06, + "acceleration": 8.421879726938641e-08, + "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": 1.0603253940644208e-05, + "observation_loss": 1.034819615597371e-05, + "chamfer": 8.018149856070522e-06, + "track": 2.3300465272768633e-06, + "acceleration": 2.550578699356265e-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": 1.0290631507814396e-05, + "observation_loss": 1.0165780622628517e-05, + "chamfer": 7.901373464846984e-06, + "track": 2.2644069304078585e-06, + "acceleration": 1.2485101308357116e-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": 9.973680789698847e-06, + "observation_loss": 9.81485572992824e-06, + "chamfer": 7.683226613153238e-06, + "track": 2.1316293441486778e-06, + "acceleration": 1.5882521609000833e-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": 9.6007643151097e-06, + "observation_loss": 9.555362339597195e-06, + "chamfer": 7.513398941227933e-06, + "track": 2.041963398369262e-06, + "acceleration": 4.540158826671359e-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": 9.363615390611812e-06, + "observation_loss": 9.30602618609555e-06, + "chamfer": 7.3307401180500165e-06, + "track": 1.9752856132981833e-06, + "acceleration": 5.758963084190327e-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": 9.35689422476571e-06, + "observation_loss": 9.290685738960747e-06, + "chamfer": 7.310972250706982e-06, + "track": 1.9797132608800894e-06, + "acceleration": 6.62080594793224e-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": 9.438032066100277e-06, + "observation_loss": 9.347843842988368e-06, + "chamfer": 7.343634479184402e-06, + "track": 2.0042091364302905e-06, + "acceleration": 9.018827284990039e-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": 9.399636837770231e-06, + "observation_loss": 9.339304597233422e-06, + "chamfer": 7.33279921405483e-06, + "track": 2.006505610552267e-06, + "acceleration": 6.033257449189477e-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": 9.487881470704451e-06, + "observation_loss": 9.349153515358921e-06, + "chamfer": 7.315288257814245e-06, + "track": 2.033865257544676e-06, + "acceleration": 1.3872772797185462e-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": 9.673426575318445e-06, + "observation_loss": 9.379836228617933e-06, + "chamfer": 7.332792847591918e-06, + "track": 2.0470431536523392e-06, + "acceleration": 2.935899203748704e-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": 1.0074959391204175e-05, + "observation_loss": 9.454935934627429e-06, + "chamfer": 7.356225069088396e-06, + "track": 2.098710865539033e-06, + "acceleration": 6.20023854480678e-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": 1.0362172361055855e-05, + "observation_loss": 9.531834621157032e-06, + "chamfer": 7.404563802992925e-06, + "track": 2.1272708181641065e-06, + "acceleration": 8.303379104290798e-07, + "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": 9.941618372977246e-06, + "observation_loss": 9.551972652843688e-06, + "chamfer": 7.415610070893308e-06, + "track": 2.136362354576704e-06, + "acceleration": 3.8964549275988247e-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": 9.815100384003017e-06, + "observation_loss": 9.68897256825585e-06, + "chamfer": 7.5133943937544245e-06, + "track": 2.1755779471277492e-06, + "acceleration": 1.2612785837973206e-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": 9.936541573551949e-06, + "observation_loss": 9.847812179941684e-06, + "chamfer": 7.612629360664869e-06, + "track": 2.2351823645294644e-06, + "acceleration": 8.872918044744438e-08, + "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": 1.0145869055122603e-05, + "observation_loss": 1.0081250366056338e-05, + "chamfer": 7.755309525236953e-06, + "track": 2.3259406134457095e-06, + "acceleration": 6.461851143058084e-08, + "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": 1.0165118510485627e-05, + "observation_loss": 1.0107342859555501e-05, + "chamfer": 7.766621820337605e-06, + "track": 2.3407208118442213e-06, + "acceleration": 5.777522815719749e-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": 1.02566737041343e-05, + "observation_loss": 1.0085621397593059e-05, + "chamfer": 7.736118277534842e-06, + "track": 2.3495033474318916e-06, + "acceleration": 1.710521075892757e-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": 1.0133548130397685e-05, + "observation_loss": 1.0034621482191142e-05, + "chamfer": 7.659410584892612e-06, + "track": 2.375211124672205e-06, + "acceleration": 9.892623609175644e-08, + "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": 1.0032651516667102e-05, + "observation_loss": 9.95756909105694e-06, + "chamfer": 7.582083071611123e-06, + "track": 2.375486019445816e-06, + "acceleration": 7.508251798071797e-08, + "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": 1.0040943379863165e-05, + "observation_loss": 9.820570994634181e-06, + "chamfer": 7.495353202102706e-06, + "track": 2.3252182472788263e-06, + "acceleration": 2.2037200153590675e-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": 1.0181621291849297e-05, + "observation_loss": 9.634420166548807e-06, + "chamfer": 7.3930086728069e-06, + "track": 2.241411493741907e-06, + "acceleration": 5.472011821439082e-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": 9.892744856188074e-06, + "observation_loss": 9.583616702002473e-06, + "chamfer": 7.35999265089049e-06, + "track": 2.223624505859334e-06, + "acceleration": 3.0912832471585716e-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": 9.771408258529846e-06, + "observation_loss": 9.579719517205376e-06, + "chamfer": 7.367697435256559e-06, + "track": 2.2120218545751413e-06, + "acceleration": 1.9168872711361473e-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": 9.785293514141813e-06, + "observation_loss": 9.646855687606148e-06, + "chamfer": 7.419551366183441e-06, + "track": 2.2273045487963827e-06, + "acceleration": 1.3843769863797206e-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": 9.825945198826957e-06, + "observation_loss": 9.763569323695265e-06, + "chamfer": 7.499414095946122e-06, + "track": 2.2641556824964937e-06, + "acceleration": 6.237586092083802e-08, + "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": 9.943592885974795e-06, + "observation_loss": 9.908881111186929e-06, + "chamfer": 7.588669177494012e-06, + "track": 2.3202119336929172e-06, + "acceleration": 3.471162557389107e-08, + "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": 1.008377057587495e-05, + "observation_loss": 1.0028817087004427e-05, + "chamfer": 7.634239409526344e-06, + "track": 2.394577904851758e-06, + "acceleration": 5.495348887052387e-08, + "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": 1.0317843589291442e-05, + "observation_loss": 1.0202984412899241e-05, + "chamfer": 7.71534087107284e-06, + "track": 2.487643996573752e-06, + "acceleration": 1.1485915507591926e-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": 1.0784746336867101e-05, + "observation_loss": 1.057373719959287e-05, + "chamfer": 7.903390724095516e-06, + "track": 2.670346475497354e-06, + "acceleration": 2.1100893832226575e-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": 1.1252305739617441e-05, + "observation_loss": 1.0959115570585709e-05, + "chamfer": 8.10058645583922e-06, + "track": 2.858528887372813e-06, + "acceleration": 2.931905385139544e-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": 1.1469528544694185e-05, + "observation_loss": 1.1303740393486805e-05, + "chamfer": 8.291723133879714e-06, + "track": 3.0120172596070915e-06, + "acceleration": 1.6578859174387617e-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": 1.1585212632780895e-05, + "observation_loss": 1.1489006283227354e-05, + "chamfer": 8.379911378142424e-06, + "track": 3.109094677711255e-06, + "acceleration": 9.620640639695921e-08, + "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": 1.1944654943363275e-05, + "observation_loss": 1.1747406460926868e-05, + "chamfer": 8.539088412362617e-06, + "track": 3.208318275937927e-06, + "acceleration": 1.9724807032162062e-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": 1.23049403555342e-05, + "observation_loss": 1.2088958101230673e-05, + "chamfer": 8.735433766560163e-06, + "track": 3.35352433467051e-06, + "acceleration": 2.1598235377950914e-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": 1.2402554602886084e-05, + "observation_loss": 1.232493195857387e-05, + "chamfer": 8.860198249749374e-06, + "track": 3.4647341635718476e-06, + "acceleration": 7.762228193541887e-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": 1.251501544174971e-05, + "observation_loss": 1.2432456060196273e-05, + "chamfer": 8.91013587533962e-06, + "track": 3.5223204122303287e-06, + "acceleration": 8.25590404929244e-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": 1.2568161764647812e-05, + "observation_loss": 1.2499767763074487e-05, + "chamfer": 8.948210961534642e-06, + "track": 3.551556346792495e-06, + "acceleration": 6.839388788648648e-08, + "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": 1.2582911949721165e-05, + "observation_loss": 1.2526386854005978e-05, + "chamfer": 8.93974538485054e-06, + "track": 3.586641923902789e-06, + "acceleration": 5.6524754654674325e-08, + "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": 1.2603363757079933e-05, + "observation_loss": 1.2545247955131344e-05, + "chamfer": 8.925755537347868e-06, + "track": 3.6194919630361255e-06, + "acceleration": 5.8115617207477044e-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": 1.2661563232541084e-05, + "observation_loss": 1.2531603715615347e-05, + "chamfer": 8.926039299694821e-06, + "track": 3.6055641885468503e-06, + "acceleration": 1.2995953113659198e-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": 1.2607324606506154e-05, + "observation_loss": 1.2491695997596253e-05, + "chamfer": 8.903489288059063e-06, + "track": 3.5882067095371895e-06, + "acceleration": 1.1562852364477294e-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": 1.2477944437705446e-05, + "observation_loss": 1.2464374776754994e-05, + "chamfer": 8.873732440406457e-06, + "track": 3.590642108974862e-06, + "acceleration": 1.3569564139004342e-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": 1.2482192687457427e-05, + "observation_loss": 1.2426635294104926e-05, + "chamfer": 8.839319889375474e-06, + "track": 3.5873156321031274e-06, + "acceleration": 5.5557070055556323e-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": 1.2497057468863204e-05, + "observation_loss": 1.2384379260765854e-05, + "chamfer": 8.803873242868576e-06, + "track": 3.5805057905236026e-06, + "acceleration": 1.1267776045542632e-07, + "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": 1.2396269994496834e-05, + "observation_loss": 1.2285053344385233e-05, + "chamfer": 8.751286259212065e-06, + "track": 3.5337670851731673e-06, + "acceleration": 1.1121677090386584e-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": 1.2137877092754934e-05, + "observation_loss": 1.2088059520465322e-05, + "chamfer": 8.644334229757078e-06, + "track": 3.4437255180819193e-06, + "acceleration": 4.981726675623577e-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": 9.759403113207554e-06, + "chamfer_mean": 6.7519699508504045e-06, + "track_mean": 1.970498995085279e-06, + "acceleration_mean": 1.0369341525336602e-06, + "observation_score": 8.722468921954865e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4298077059993375 + }, + "score_arrays_file": "pass_scores/pass_end_0113.npz", + "score_arrays_sha256": "155f25cc53e888ccbbb1ab9945b3eb7140259e359c1f1b68d5f33d6a5d67531c" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0114.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0114.json new file mode 100644 index 0000000000000000000000000000000000000000..37078e508a128edb27b6a84ee1daf1f07d13e68e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0114.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 10944, + "completed_passes": 114, + "snapshot": "pass_end_0114", + "candidate": true, + "snapshot_arrays_sha256": "e6ef2bdfd98a30e7589e497163c75ecf28915266d0058c67e13fd47d33316634", + "score": 8.711801091484025e-06, + "score_result": { + "score": 8.711801091484025e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9783184345433256e-06, + 3.379093641342479e-06, + 3.864238806272624e-06, + 4.906802587356651e-06, + 5.831551334267715e-06, + 6.308100637397729e-06, + 6.365721219481202e-06, + 6.116799340816215e-06, + 5.877275270904647e-06, + 5.802171472168993e-06, + 5.990482350171078e-06, + 6.22367315372685e-06, + 6.471516826422885e-06, + 6.698467586829793e-06, + 6.825072887295391e-06, + 6.978785677347332e-06, + 6.875461167510366e-06, + 6.586765721294796e-06, + 6.39791551293456e-06, + 6.384335847542388e-06, + 6.410373316612095e-06, + 6.3025386225490365e-06, + 6.035272235749289e-06, + 5.918315309827449e-06, + 6.148773991299095e-06, + 6.557086635439191e-06, + 6.818026577093406e-06, + 6.908911018399522e-06, + 6.814573225710774e-06, + 6.6582269937498495e-06, + 6.551409569510724e-06, + 6.604749614780303e-06, + 6.740506250935141e-06, + 7.026294042589143e-06, + 7.269001343956916e-06, + 7.617984465468908e-06, + 7.915915375633631e-06, + 7.977625500643626e-06, + 7.949975952215027e-06, + 8.100838385871612e-06, + 8.482643352181185e-06, + 8.809188329905737e-06, + 8.948436516220681e-06, + 9.099248018173967e-06, + 9.122240953729488e-06, + 9.089209925150499e-06, + 9.038898497237824e-06, + 9.330395187134854e-06, + 9.892353773466311e-06, + 1.0334964827052318e-05, + 1.0152929462492466e-05, + 9.802308341022581e-06, + 9.543649866827764e-06, + 9.293948096456006e-06, + 9.277964636567049e-06, + 9.33488627197221e-06, + 9.326497092843056e-06, + 9.33623596210964e-06, + 9.367165148432832e-06, + 9.441820111533161e-06, + 9.520616004010662e-06, + 9.542695806885604e-06, + 9.681187293608673e-06, + 9.842294275586028e-06, + 1.0078333616547752e-05, + 1.01065215858398e-05, + 1.0085555913974531e-05, + 1.0035684681497514e-05, + 9.959779163182247e-06, + 9.822778338275384e-06, + 9.63584261626238e-06, + 9.584231520420872e-06, + 9.57932661549421e-06, + 9.64521495916415e-06, + 9.760731700225733e-06, + 9.905043043545447e-06, + 1.0024511539086234e-05, + 1.0198807103733998e-05, + 1.0570029189693742e-05, + 1.0955927791655995e-05, + 1.130184500652831e-05, + 1.1486175026220735e-05, + 1.1743701179511845e-05, + 1.2084573427273426e-05, + 1.2322185284574516e-05, + 1.2429903108568396e-05, + 1.2496922863647342e-05, + 1.2523186342150439e-05, + 1.2541476280603092e-05, + 1.2527622857305687e-05, + 1.2488019820011687e-05, + 1.2461344340408687e-05, + 1.2424136002664454e-05, + 1.2382681234157644e-05, + 1.228292785526719e-05, + 1.2087159120710567e-05 + ] + ], + "episode_mean_losses": [ + 8.711801091484025e-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": 2.9783184345433256e-06, + "observation_loss": 2.9783184345433256e-06, + "chamfer": 2.525629042793298e-06, + "track": 4.5268942017173686e-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": 4.6205881517380476e-05, + "observation_loss": 3.379093641342479e-06, + "chamfer": 2.857739218597999e-06, + "track": 5.213543659010611e-07, + "acceleration": 4.2826788558159024e-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": 2.8219486921443604e-05, + "observation_loss": 3.864238806272624e-06, + "chamfer": 3.2560071758780396e-06, + "track": 6.082316872380034e-07, + "acceleration": 2.435524766042363e-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": 1.3560127626988105e-05, + "observation_loss": 4.906802587356651e-06, + "chamfer": 4.064211680088192e-06, + "track": 8.425910209552967e-07, + "acceleration": 8.653325494378805e-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": 1.020757008518558e-05, + "observation_loss": 5.831551334267715e-06, + "chamfer": 4.728031399281463e-06, + "track": 1.1035198212994146e-06, + "acceleration": 4.376019205665216e-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": 7.933847882668488e-06, + "observation_loss": 6.308100637397729e-06, + "chamfer": 5.036248694523238e-06, + "track": 1.2718521702481667e-06, + "acceleration": 1.6257469042102457e-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": 8.172017260221764e-06, + "observation_loss": 6.365721219481202e-06, + "chamfer": 5.0497869779064786e-06, + "track": 1.315934355261561e-06, + "acceleration": 1.8062955859932117e-06, + "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": 7.046308382996358e-06, + "observation_loss": 6.116799340816215e-06, + "chamfer": 4.866875315201469e-06, + "track": 1.2499237982410705e-06, + "acceleration": 9.295089284933056e-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": 6.548527835548157e-06, + "observation_loss": 5.877275270904647e-06, + "chamfer": 4.699555120168952e-06, + "track": 1.1777202644225326e-06, + "acceleration": 6.71252450956672e-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": 6.273268809309229e-06, + "observation_loss": 5.802171472168993e-06, + "chamfer": 4.668870133173186e-06, + "track": 1.1333014526826446e-06, + "acceleration": 4.7109753609220206e-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": 6.23391770204762e-06, + "observation_loss": 5.990482350171078e-06, + "chamfer": 4.8449915084347595e-06, + "track": 1.145490614362643e-06, + "acceleration": 2.4343552240679855e-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": 6.392797786247684e-06, + "observation_loss": 6.22367315372685e-06, + "chamfer": 5.043461442255648e-06, + "track": 1.1802117114712019e-06, + "acceleration": 1.6912476041852642e-07, + "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": 6.543901236000238e-06, + "observation_loss": 6.471516826422885e-06, + "chamfer": 5.260292709863279e-06, + "track": 1.2112242302464438e-06, + "acceleration": 7.238442378820764e-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": 6.82436939314357e-06, + "observation_loss": 6.698467586829793e-06, + "chamfer": 5.4581978474743664e-06, + "track": 1.240269853042264e-06, + "acceleration": 1.2590169262693962e-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": 6.951413524802774e-06, + "observation_loss": 6.825072887295391e-06, + "chamfer": 5.573172074946342e-06, + "track": 1.2519008123490494e-06, + "acceleration": 1.263408506702035e-07, + "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": 7.102039035089547e-06, + "observation_loss": 6.978785677347332e-06, + "chamfer": 5.7048691814998165e-06, + "track": 1.2739167232211912e-06, + "acceleration": 1.2325332932050515e-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": 7.060390544211259e-06, + "observation_loss": 6.875461167510366e-06, + "chamfer": 5.626739948638715e-06, + "track": 1.2487212188716512e-06, + "acceleration": 1.849293340683289e-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": 6.824468982813414e-06, + "observation_loss": 6.586765721294796e-06, + "chamfer": 5.411165147961583e-06, + "track": 1.1756006870200508e-06, + "acceleration": 2.3770319046434452e-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": 6.520493570860708e-06, + "observation_loss": 6.39791551293456e-06, + "chamfer": 5.274222985462984e-06, + "track": 1.1236926411584136e-06, + "acceleration": 1.2257805792614818e-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": 6.498099082818953e-06, + "observation_loss": 6.384335847542388e-06, + "chamfer": 5.267084361548768e-06, + "track": 1.1172515996804577e-06, + "acceleration": 1.1376335606883003e-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": 6.574024610017659e-06, + "observation_loss": 6.410373316612095e-06, + "chamfer": 5.286021405481733e-06, + "track": 1.1243521385040367e-06, + "acceleration": 1.6365135024898336e-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": 6.450768523791339e-06, + "observation_loss": 6.3025386225490365e-06, + "chamfer": 5.208548373047961e-06, + "track": 1.0939901358142379e-06, + "acceleration": 1.4823000071828574e-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": 6.193056833581068e-06, + "observation_loss": 6.035272235749289e-06, + "chamfer": 5.004643753636628e-06, + "track": 1.0306282547389856e-06, + "acceleration": 1.5778473994032538e-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": 6.056218353478471e-06, + "observation_loss": 5.918315309827449e-06, + "chamfer": 4.906365575152449e-06, + "track": 1.0119498483618372e-06, + "acceleration": 1.3790325681384275e-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": 6.287357791734394e-06, + "observation_loss": 6.148773991299095e-06, + "chamfer": 5.068467089586193e-06, + "track": 1.0803067880260642e-06, + "acceleration": 1.385835730616236e-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": 6.832108283560956e-06, + "observation_loss": 6.557086635439191e-06, + "chamfer": 5.360791874409188e-06, + "track": 1.1962947610300034e-06, + "acceleration": 2.750216481217649e-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": 7.105656550265849e-06, + "observation_loss": 6.818026577093406e-06, + "chamfer": 5.54421785636805e-06, + "track": 1.2738087207253557e-06, + "acceleration": 2.8763003001586185e-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": 7.10908898327034e-06, + "observation_loss": 6.908911018399522e-06, + "chamfer": 5.617800525214989e-06, + "track": 1.2911103794976952e-06, + "acceleration": 2.0017805013594625e-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": 7.274049494299106e-06, + "observation_loss": 6.814573225710774e-06, + "chamfer": 5.554110884986585e-06, + "track": 1.2604624544110266e-06, + "acceleration": 4.5947646754029847e-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": 6.916263373568654e-06, + "observation_loss": 6.6582269937498495e-06, + "chamfer": 5.441032953967806e-06, + "track": 1.2171941534688813e-06, + "acceleration": 2.580363229753857e-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": 6.6235370468348265e-06, + "observation_loss": 6.551409569510724e-06, + "chamfer": 5.3645890147890896e-06, + "track": 1.1868204410347971e-06, + "acceleration": 7.21276407489313e-08, + "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": 6.65747302264208e-06, + "observation_loss": 6.604749614780303e-06, + "chamfer": 5.4110792007122654e-06, + "track": 1.1936704140680376e-06, + "acceleration": 5.2723478916050226e-08, + "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": 6.808112175349379e-06, + "observation_loss": 6.740506250935141e-06, + "chamfer": 5.521176262845984e-06, + "track": 1.2193299880891573e-06, + "acceleration": 6.76059173088106e-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": 7.13572853783262e-06, + "observation_loss": 7.026294042589143e-06, + "chamfer": 5.732211775466567e-06, + "track": 1.294082267122576e-06, + "acceleration": 1.0943441708377577e-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": 7.356433343375102e-06, + "observation_loss": 7.269001343956916e-06, + "chamfer": 5.915836027270416e-06, + "track": 1.3531652029996621e-06, + "acceleration": 8.743209178874167e-08, + "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": 7.75310763856396e-06, + "observation_loss": 7.617984465468908e-06, + "chamfer": 6.171937911858549e-06, + "track": 1.4460466672971961e-06, + "acceleration": 1.3512304519736063e-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": 7.968177669681609e-06, + "observation_loss": 7.915915375633631e-06, + "chamfer": 6.384637345036026e-06, + "track": 1.531278371658118e-06, + "acceleration": 5.226247878908907e-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": 8.33183730719611e-06, + "observation_loss": 7.977625500643626e-06, + "chamfer": 6.435278464778094e-06, + "track": 1.5423468084918568e-06, + "acceleration": 3.5421180655248463e-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": 8.058715138758998e-06, + "observation_loss": 7.949975952215027e-06, + "chamfer": 6.43565090285847e-06, + "track": 1.5143253904170706e-06, + "acceleration": 1.0873912970055244e-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": 8.287210221169516e-06, + "observation_loss": 8.100838385871612e-06, + "chamfer": 6.548003511852585e-06, + "track": 1.5528346466453513e-06, + "acceleration": 1.8637226162354636e-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": 8.70279018272413e-06, + "observation_loss": 8.482643352181185e-06, + "chamfer": 6.817112534918124e-06, + "track": 1.6655310446367366e-06, + "acceleration": 2.2014646106072178e-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": 8.951158633863088e-06, + "observation_loss": 8.809188329905737e-06, + "chamfer": 7.040161108307075e-06, + "track": 1.769026994224987e-06, + "acceleration": 1.419700623728204e-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": 9.045622391568031e-06, + "observation_loss": 8.948436516220681e-06, + "chamfer": 7.118780104065081e-06, + "track": 1.8296562984687625e-06, + "acceleration": 9.718601035046959e-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": 9.157196473097429e-06, + "observation_loss": 9.099248018173967e-06, + "chamfer": 7.213593562482856e-06, + "track": 1.8856543420042726e-06, + "acceleration": 5.794869650799228e-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": 9.207085895468481e-06, + "observation_loss": 9.122240953729488e-06, + "chamfer": 7.224786713777576e-06, + "track": 1.8974537852045614e-06, + "acceleration": 8.484506253125801e-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": 9.169568329525646e-06, + "observation_loss": 9.089209925150499e-06, + "chamfer": 7.201046173577197e-06, + "track": 1.888164092633815e-06, + "acceleration": 8.035831911001878e-08, + "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": 9.240816325473133e-06, + "observation_loss": 9.038898497237824e-06, + "chamfer": 7.162345809774706e-06, + "track": 1.8765526874631178e-06, + "acceleration": 2.0191816929582274e-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": 9.463994501857087e-06, + "observation_loss": 9.330395187134854e-06, + "chamfer": 7.35519597583334e-06, + "track": 1.9751994386751903e-06, + "acceleration": 1.3359968420445512e-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": 9.975982720789034e-06, + "observation_loss": 9.892353773466311e-06, + "chamfer": 7.714749699516688e-06, + "track": 2.1776043013232993e-06, + "acceleration": 8.36285494187905e-08, + "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": 1.059029636962805e-05, + "observation_loss": 1.0334964827052318e-05, + "chamfer": 8.008923941815738e-06, + "track": 2.326040430489229e-06, + "acceleration": 2.5533199732308276e-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": 1.0278054105583578e-05, + "observation_loss": 1.0152929462492466e-05, + "chamfer": 7.892291250755079e-06, + "track": 2.2606384391110623e-06, + "acceleration": 1.2512434466316336e-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": 9.96188919089036e-06, + "observation_loss": 9.802308341022581e-06, + "chamfer": 7.674365406273864e-06, + "track": 2.127942707375041e-06, + "acceleration": 1.5958063670495903e-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": 9.588733519194648e-06, + "observation_loss": 9.543649866827764e-06, + "chamfer": 7.505359008064261e-06, + "track": 2.0382906313898275e-06, + "acceleration": 4.508386552970478e-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": 9.350872460345272e-06, + "observation_loss": 9.293948096456006e-06, + "chamfer": 7.322329565795371e-06, + "track": 1.971618075913284e-06, + "acceleration": 5.692458415751389e-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": 9.343664714833722e-06, + "observation_loss": 9.277964636567049e-06, + "chamfer": 7.302306585188489e-06, + "track": 1.97565850612591e-06, + "acceleration": 6.569993615812564e-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": 9.424082236364484e-06, + "observation_loss": 9.33488627197221e-06, + "chamfer": 7.334843758144416e-06, + "track": 2.0000420590804424e-06, + "acceleration": 8.919559491005202e-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": 9.385700650454964e-06, + "observation_loss": 9.326497092843056e-06, + "chamfer": 7.324120360863162e-06, + "track": 2.002376959353569e-06, + "acceleration": 5.920396262126815e-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": 9.476063496549614e-06, + "observation_loss": 9.33623596210964e-06, + "chamfer": 7.306646239157999e-06, + "track": 2.0295897229516413e-06, + "acceleration": 1.3982709390347736e-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": 9.661473995947745e-06, + "observation_loss": 9.367165148432832e-06, + "chamfer": 7.3244636951130815e-06, + "track": 2.0427012259460753e-06, + "acceleration": 2.9430898962345964e-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": 1.0062595720228273e-05, + "observation_loss": 9.441820111533161e-06, + "chamfer": 7.347817700065207e-06, + "track": 2.094002184094279e-06, + "acceleration": 6.207753244780179e-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": 1.0353186553402338e-05, + "observation_loss": 9.520616004010662e-06, + "chamfer": 7.397672106890241e-06, + "track": 2.122944124494097e-06, + "acceleration": 8.325702083311626e-07, + "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": 9.934169611369725e-06, + "observation_loss": 9.542695806885604e-06, + "chamfer": 7.409925729007227e-06, + "track": 2.132770305252052e-06, + "acceleration": 3.914738044841215e-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": 9.80740696832072e-06, + "observation_loss": 9.681187293608673e-06, + "chamfer": 7.508665930799907e-06, + "track": 2.172520908061415e-06, + "acceleration": 1.2621995892914128e-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": 9.93170488072792e-06, + "observation_loss": 9.842294275586028e-06, + "chamfer": 7.609183285239851e-06, + "track": 2.233110762972501e-06, + "acceleration": 8.94106761961666e-08, + "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": 1.0143159670406021e-05, + "observation_loss": 1.0078333616547752e-05, + "chamfer": 7.753541467536706e-06, + "track": 2.3247921490110457e-06, + "acceleration": 6.482623149395295e-08, + "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": 1.016388887364883e-05, + "observation_loss": 1.01065215858398e-05, + "chamfer": 7.76611705077812e-06, + "track": 2.3404049898090307e-06, + "acceleration": 5.736703201364435e-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": 1.0257869689667132e-05, + "observation_loss": 1.0085555913974531e-05, + "chamfer": 7.736069164820947e-06, + "track": 2.349487203900935e-06, + "acceleration": 1.723136193731989e-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": 1.0135150660062209e-05, + "observation_loss": 1.0035684681497514e-05, + "chamfer": 7.660042683710344e-06, + "track": 2.375642452534521e-06, + "acceleration": 9.946570145302758e-08, + "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": 1.0035012564912904e-05, + "observation_loss": 9.959779163182247e-06, + "chamfer": 7.5835278039448895e-06, + "track": 2.3762515866110334e-06, + "acceleration": 7.523306777557082e-08, + "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": 1.0044574992207345e-05, + "observation_loss": 9.822778338275384e-06, + "chamfer": 7.496749731217278e-06, + "track": 2.3260288344317814e-06, + "acceleration": 2.2179663972110575e-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": 1.0185322935285512e-05, + "observation_loss": 9.63584261626238e-06, + "chamfer": 7.393958185275551e-06, + "track": 2.2418842036131537e-06, + "acceleration": 5.494802621797135e-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": 9.895324183162302e-06, + "observation_loss": 9.584231520420872e-06, + "chamfer": 7.360280960710952e-06, + "track": 2.223950332336244e-06, + "acceleration": 3.1109243536775466e-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": 9.77069703367306e-06, + "observation_loss": 9.57932661549421e-06, + "chamfer": 7.367120815615635e-06, + "track": 2.2122060272522504e-06, + "acceleration": 1.9137009132919047e-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": 9.777600098459516e-06, + "observation_loss": 9.64521495916415e-06, + "chamfer": 7.4182003118039574e-06, + "track": 2.2270151021075435e-06, + "acceleration": 1.3238515350622038e-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": 9.822533684200607e-06, + "observation_loss": 9.760731700225733e-06, + "chamfer": 7.4974332164856605e-06, + "track": 2.263298028992722e-06, + "acceleration": 6.180180633919008e-08, + "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": 9.939828487404156e-06, + "observation_loss": 9.905043043545447e-06, + "chamfer": 7.5862071753363125e-06, + "track": 2.3188358682091348e-06, + "acceleration": 3.4785177405183276e-08, + "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": 1.008091840049019e-05, + "observation_loss": 1.0024511539086234e-05, + "chamfer": 7.631500011484604e-06, + "track": 2.393011300227954e-06, + "acceleration": 5.640680811325183e-08, + "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": 1.0314794053556398e-05, + "observation_loss": 1.0198807103733998e-05, + "chamfer": 7.71277063904563e-06, + "track": 2.486036464688368e-06, + "acceleration": 1.1598682903013469e-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": 1.0774989277706482e-05, + "observation_loss": 1.0570029189693742e-05, + "chamfer": 7.90119247540133e-06, + "track": 2.6688364869187353e-06, + "acceleration": 2.0495990327162872e-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": 1.1222499779250938e-05, + "observation_loss": 1.0955927791655995e-05, + "chamfer": 8.098654689092655e-06, + "track": 2.857273557310691e-06, + "acceleration": 2.6657232865545666e-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": 1.1466264368209522e-05, + "observation_loss": 1.130184500652831e-05, + "chamfer": 8.29073633212829e-06, + "track": 3.011108901773696e-06, + "acceleration": 1.6441909167497215e-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": 1.1586437722144183e-05, + "observation_loss": 1.1486175026220735e-05, + "chamfer": 8.378167876799125e-06, + "track": 3.1080073767952854e-06, + "acceleration": 1.0026256092032781e-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": 1.1945522601308767e-05, + "observation_loss": 1.1743701179511845e-05, + "chamfer": 8.537052963220049e-06, + "track": 3.2066477615444455e-06, + "acceleration": 2.0182163495974237e-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": 1.230287307407707e-05, + "observation_loss": 1.2084573427273426e-05, + "chamfer": 8.733234608371276e-06, + "track": 3.35133881890215e-06, + "acceleration": 2.1829933416483982e-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": 1.240056735696271e-05, + "observation_loss": 1.2322185284574516e-05, + "chamfer": 8.859454283083323e-06, + "track": 3.462730546743842e-06, + "acceleration": 7.838205107191243e-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": 1.2512362445704639e-05, + "observation_loss": 1.2429903108568396e-05, + "chamfer": 8.90929459274048e-06, + "track": 3.520608288454241e-06, + "acceleration": 8.245907423543031e-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": 1.2565887118398678e-05, + "observation_loss": 1.2496922863647342e-05, + "chamfer": 8.947256901592482e-06, + "track": 3.549665507307509e-06, + "acceleration": 6.89639918505236e-08, + "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": 1.2579974281834438e-05, + "observation_loss": 1.2523186342150439e-05, + "chamfer": 8.938482096709777e-06, + "track": 3.584704245440662e-06, + "acceleration": 5.6788234559235207e-08, + "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": 1.2599510228028521e-05, + "observation_loss": 1.2541476280603092e-05, + "chamfer": 8.924169378587976e-06, + "track": 3.6173066746414406e-06, + "acceleration": 5.803437730378391e-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": 1.2658056220971048e-05, + "observation_loss": 1.2527622857305687e-05, + "chamfer": 8.924359462980647e-06, + "track": 3.6032633943250403e-06, + "acceleration": 1.3043319313510437e-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": 1.2602858987520449e-05, + "observation_loss": 1.2488019820011687e-05, + "chamfer": 8.901937690097839e-06, + "track": 3.5860819025401725e-06, + "acceleration": 1.1483925277389062e-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": 1.2474474715418182e-05, + "observation_loss": 1.2461344340408687e-05, + "chamfer": 8.872370926837903e-06, + "track": 3.588973413570784e-06, + "acceleration": 1.3130583731424395e-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": 1.2479014003474731e-05, + "observation_loss": 1.2424136002664454e-05, + "chamfer": 8.838174835545942e-06, + "track": 3.585961167118512e-06, + "acceleration": 5.4878270816516306e-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": 1.2495263035816606e-05, + "observation_loss": 1.2382681234157644e-05, + "chamfer": 8.803376658761408e-06, + "track": 3.5793043480225606e-06, + "acceleration": 1.1258206455977415e-07, + "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": 1.2395507837936748e-05, + "observation_loss": 1.228292785526719e-05, + "chamfer": 8.750481356400996e-06, + "track": 3.532446498866193e-06, + "acceleration": 1.125800110912678e-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": 1.2137502380937804e-05, + "observation_loss": 1.2087159120710567e-05, + "chamfer": 8.64419689605711e-06, + "track": 3.4429617699061055e-06, + "acceleration": 5.034286587601855e-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": 9.746942929211855e-06, + "chamfer_mean": 6.744399501693958e-06, + "track_mean": 1.9674015782437473e-06, + "acceleration_mean": 1.0351418356461621e-06, + "observation_score": 8.711801091484025e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429070952000984 + }, + "score_arrays_file": "pass_scores/pass_end_0114.npz", + "score_arrays_sha256": "a75ec2833a7f3c8e44c2e6e9036f7981f45bce3e3c6d1136140e3ca85fe997aa" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0115.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0115.json new file mode 100644 index 0000000000000000000000000000000000000000..e2434064b7a7ccc9bb0be15534e64d2dffb1ed35 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0115.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11040, + "completed_passes": 115, + "snapshot": "pass_end_0115", + "candidate": true, + "snapshot_arrays_sha256": "afeb9fc386bba90a4b1518412b4220bee38542937fb498777c8db96f14e70a3f", + "score": 8.701370866504021e-06, + "score_result": { + "score": 8.701370866504021e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9769737466267543e-06, + 3.3765295484045055e-06, + 3.857301635434851e-06, + 4.893280674878042e-06, + 5.816295015392825e-06, + 6.289840257522883e-06, + 6.351544470817316e-06, + 6.111783022788586e-06, + 5.873202553630108e-06, + 5.7966226449934766e-06, + 5.978185981803108e-06, + 6.209840648807585e-06, + 6.4542882682872005e-06, + 6.678744284727145e-06, + 6.805282737332163e-06, + 6.956530341994949e-06, + 6.85286613588687e-06, + 6.56529891784885e-06, + 6.376299097610172e-06, + 6.3629231590311974e-06, + 6.387482699210523e-06, + 6.279425633692881e-06, + 6.013918209646363e-06, + 5.897263235965511e-06, + 6.124256742623402e-06, + 6.530644441227196e-06, + 6.793003649363527e-06, + 6.885410584800411e-06, + 6.793853117414983e-06, + 6.638557806581957e-06, + 6.532707175210817e-06, + 6.5882140916073695e-06, + 6.724663762724958e-06, + 7.01065664543421e-06, + 7.253674539242638e-06, + 7.602451660204679e-06, + 7.900567652541213e-06, + 7.962815288919955e-06, + 7.934059794934e-06, + 8.083186912699603e-06, + 8.463092854071874e-06, + 8.791721484158188e-06, + 8.931725460570306e-06, + 9.082114047487266e-06, + 9.105710887524765e-06, + 9.07366211322369e-06, + 9.025683539221063e-06, + 9.318368938693311e-06, + 9.881681762635708e-06, + 1.0325250514142681e-05, + 1.0143920917471405e-05, + 9.793496246857103e-06, + 9.535117897030432e-06, + 9.284661246056203e-06, + 9.267215318686794e-06, + 9.323179256170988e-06, + 9.314772796642501e-06, + 9.323814083472826e-06, + 9.35521165956743e-06, + 9.42935366765596e-06, + 9.50978574110195e-06, + 9.534584933135193e-06, + 9.675366527517326e-06, + 9.838835467235185e-06, + 1.00779479907942e-05, + 1.0108375136042014e-05, + 1.0088009730679914e-05, + 1.0039142580353655e-05, + 9.964411219698377e-06, + 9.827435860643163e-06, + 9.639870768296532e-06, + 9.587851309333928e-06, + 9.581332960806321e-06, + 9.645462341723032e-06, + 9.75940110947704e-06, + 9.902008059725631e-06, + 1.0019886758527718e-05, + 1.0194107744609937e-05, + 1.0566338460193947e-05, + 1.095270908990642e-05, + 1.1299666766717564e-05, + 1.1483321941341273e-05, + 1.1740325135178864e-05, + 1.2080463420716114e-05, + 1.2319304914854001e-05, + 1.2427102774381638e-05, + 1.249349043064285e-05, + 1.2519634765340015e-05, + 1.2537667316792067e-05, + 1.2523145414888859e-05, + 1.2483235877880361e-05, + 1.2456265721993987e-05, + 1.2420227903930936e-05, + 1.2379732652334496e-05, + 1.2280030205147341e-05, + 1.2084922673238907e-05 + ] + ], + "episode_mean_losses": [ + 8.701370866504021e-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": 2.9769737466267543e-06, + "observation_loss": 2.9769737466267543e-06, + "chamfer": 2.524510136936442e-06, + "track": 4.5246355284689344e-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": 4.611676195054315e-05, + "observation_loss": 3.3765295484045055e-06, + "chamfer": 2.8556075903907185e-06, + "track": 5.209220148572058e-07, + "acceleration": 4.27402337663807e-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": 2.8149417630629614e-05, + "observation_loss": 3.857301635434851e-06, + "chamfer": 3.250414238209487e-06, + "track": 6.068875677556207e-07, + "acceleration": 2.4292115995194763e-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": 1.3515871614799835e-05, + "observation_loss": 4.893280674878042e-06, + "chamfer": 4.054055352753494e-06, + "track": 8.392255494982237e-07, + "acceleration": 8.622590939921793e-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": 1.0192654372076504e-05, + "observation_loss": 5.816295015392825e-06, + "chamfer": 4.717848241853062e-06, + "track": 1.098446773539763e-06, + "acceleration": 4.376359356683679e-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": 7.924585588625632e-06, + "observation_loss": 6.289840257522883e-06, + "chamfer": 5.02457442053128e-06, + "track": 1.2652658369916026e-06, + "acceleration": 1.6347449900422362e-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": 8.132579750963487e-06, + "observation_loss": 6.351544470817316e-06, + "chamfer": 5.040589257987449e-06, + "track": 1.3109550991430297e-06, + "acceleration": 1.7810348253988195e-06, + "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": 7.01763337929151e-06, + "observation_loss": 6.111783022788586e-06, + "chamfer": 4.8633260121278e-06, + "track": 1.2484568969739485e-06, + "acceleration": 9.058501859726675e-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": 6.550525540660601e-06, + "observation_loss": 5.873202553630108e-06, + "chamfer": 4.69668111691135e-06, + "track": 1.1765214367187582e-06, + "acceleration": 6.773227596568177e-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": 6.279666649788851e-06, + "observation_loss": 5.7966226449934766e-06, + "chamfer": 4.665098913392285e-06, + "track": 1.1315239589748671e-06, + "acceleration": 4.830438911085366e-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": 6.240793936740374e-06, + "observation_loss": 5.978185981803108e-06, + "chamfer": 4.836518655793043e-06, + "track": 1.1416670986363897e-06, + "acceleration": 2.6260809704581334e-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": 6.395341188181192e-06, + "observation_loss": 6.209840648807585e-06, + "chamfer": 5.0342423492111266e-06, + "track": 1.1755985269701341e-06, + "acceleration": 1.8550052516275173e-07, + "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": 6.533333817060338e-06, + "observation_loss": 6.4542882682872005e-06, + "chamfer": 5.248470188234933e-06, + "track": 1.2058181937391055e-06, + "acceleration": 7.904542798087277e-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": 6.809708793298341e-06, + "observation_loss": 6.678744284727145e-06, + "chamfer": 5.444506768981228e-06, + "track": 1.2342372883722419e-06, + "acceleration": 1.309644659386322e-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": 6.94828713676543e-06, + "observation_loss": 6.805282737332163e-06, + "chamfer": 5.559119017561898e-06, + "track": 1.2461638334571035e-06, + "acceleration": 1.430046125960871e-07, + "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": 7.082161118887598e-06, + "observation_loss": 6.956530341994949e-06, + "chamfer": 5.688700639439048e-06, + "track": 1.2678299299295759e-06, + "acceleration": 1.256309474229056e-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": 7.0374103415815625e-06, + "observation_loss": 6.85286613588687e-06, + "chamfer": 5.610188964055851e-06, + "track": 1.2426770581441815e-06, + "acceleration": 1.8454440464665822e-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": 6.801911240472691e-06, + "observation_loss": 6.56529891784885e-06, + "chamfer": 5.395123935159063e-06, + "track": 1.1701749826897867e-06, + "acceleration": 2.3661247894324333e-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": 6.502743872260908e-06, + "observation_loss": 6.376299097610172e-06, + "chamfer": 5.257781140244333e-06, + "track": 1.1185180710526765e-06, + "acceleration": 1.2644483149415464e-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": 6.47986553303781e-06, + "observation_loss": 6.3629231590311974e-06, + "chamfer": 5.250848516880069e-06, + "track": 1.112074414777453e-06, + "acceleration": 1.1694240242832166e-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": 6.554182164109079e-06, + "observation_loss": 6.387482699210523e-06, + "chamfer": 5.2686336857732385e-06, + "track": 1.1188491271241219e-06, + "acceleration": 1.666994080551376e-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": 6.429560926335398e-06, + "observation_loss": 6.279425633692881e-06, + "chamfer": 5.190803221921669e-06, + "track": 1.0886225254580495e-06, + "acceleration": 1.5013522158824344e-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": 6.172524081193842e-06, + "observation_loss": 6.013918209646363e-06, + "chamfer": 4.988080945622642e-06, + "track": 1.0258372640237212e-06, + "acceleration": 1.5860565838465845e-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": 6.035285878169816e-06, + "observation_loss": 5.897263235965511e-06, + "chamfer": 4.890082436759258e-06, + "track": 1.0071809128930909e-06, + "acceleration": 1.3802255693917687e-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": 6.262875558604719e-06, + "observation_loss": 6.124256742623402e-06, + "chamfer": 5.049465471529402e-06, + "track": 1.074791271094e-06, + "acceleration": 1.3861867387277016e-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": 6.8050962909183e-06, + "observation_loss": 6.530644441227196e-06, + "chamfer": 5.34065839019604e-06, + "track": 1.1899860510311555e-06, + "acceleration": 2.744518212693947e-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": 7.0806281655677594e-06, + "observation_loss": 6.793003649363527e-06, + "chamfer": 5.525409051188035e-06, + "track": 1.2675944844886544e-06, + "acceleration": 2.876242888305569e-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": 7.085581728460966e-06, + "observation_loss": 6.885410584800411e-06, + "chamfer": 5.599858923233114e-06, + "track": 1.2855514341936214e-06, + "acceleration": 2.0017129997995653e-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": 7.25889776731492e-06, + "observation_loss": 6.793853117414983e-06, + "chamfer": 5.538160621654242e-06, + "track": 1.2556924957607407e-06, + "acceleration": 4.6504450779139006e-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": 6.89966100253514e-06, + "observation_loss": 6.638557806581957e-06, + "chamfer": 5.4256665862340014e-06, + "track": 1.212891106661118e-06, + "acceleration": 2.61103139109764e-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": 6.6056572904926725e-06, + "observation_loss": 6.532707175210817e-06, + "chamfer": 5.349926595954457e-06, + "track": 1.1827805792563595e-06, + "acceleration": 7.294995896245382e-08, + "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": 6.641163508902537e-06, + "observation_loss": 6.5882140916073695e-06, + "chamfer": 5.398175289883511e-06, + "track": 1.190038574350183e-06, + "acceleration": 5.294927873933375e-08, + "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": 6.791853593313135e-06, + "observation_loss": 6.724663762724958e-06, + "chamfer": 5.50866752746515e-06, + "track": 1.2159960078861332e-06, + "acceleration": 6.718966005792026e-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": 7.120069312804844e-06, + "observation_loss": 7.01065664543421e-06, + "chamfer": 5.719887667510193e-06, + "track": 1.290769091610855e-06, + "acceleration": 1.0941270289777094e-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": 7.340956472035032e-06, + "observation_loss": 7.253674539242638e-06, + "chamfer": 5.903896180825541e-06, + "track": 1.3497783584170975e-06, + "acceleration": 8.728198963581235e-08, + "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": 7.737700798315927e-06, + "observation_loss": 7.602451660204679e-06, + "chamfer": 6.16012403042987e-06, + "track": 1.4423277434616466e-06, + "acceleration": 1.3524910968953918e-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": 7.952939085953403e-06, + "observation_loss": 7.900567652541213e-06, + "chamfer": 6.3730926740390714e-06, + "track": 1.5274745237547904e-06, + "acceleration": 5.2371202485801405e-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": 8.317800165968947e-06, + "observation_loss": 7.962815288919955e-06, + "chamfer": 6.424418188544223e-06, + "track": 1.5383969866888947e-06, + "acceleration": 3.5498499073582934e-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": 8.045081813179422e-06, + "observation_loss": 7.934059794934e-06, + "chamfer": 6.424109415092971e-06, + "track": 1.5099500387805165e-06, + "acceleration": 1.1102208219426757e-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": 8.270892976725008e-06, + "observation_loss": 8.083186912699603e-06, + "chamfer": 6.535328793688677e-06, + "track": 1.5478576642635744e-06, + "acceleration": 1.8770649035104725e-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": 8.68411279952852e-06, + "observation_loss": 8.463092854071874e-06, + "chamfer": 6.803029918955872e-06, + "track": 1.6600629351160023e-06, + "acceleration": 2.2101974650468037e-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": 8.935525329434313e-06, + "observation_loss": 8.791721484158188e-06, + "chamfer": 7.027707397355698e-06, + "track": 1.7640137457419769e-06, + "acceleration": 1.4380380264356063e-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": 9.028264685184695e-06, + "observation_loss": 8.931725460570306e-06, + "chamfer": 7.106846169335768e-06, + "track": 1.8248789501740248e-06, + "acceleration": 9.653937382836375e-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": 9.140261681750417e-06, + "observation_loss": 9.082114047487266e-06, + "chamfer": 7.2013481258181855e-06, + "track": 1.8807660353559186e-06, + "acceleration": 5.814757741973153e-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": 9.190450327878352e-06, + "observation_loss": 9.105710887524765e-06, + "chamfer": 7.212929176603211e-06, + "track": 1.892781710921554e-06, + "acceleration": 8.473950430243349e-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": 9.154185136139859e-06, + "observation_loss": 9.07366211322369e-06, + "chamfer": 7.189872121671215e-06, + "track": 1.8837901052393136e-06, + "acceleration": 8.052312949757834e-08, + "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": 9.228093404090032e-06, + "observation_loss": 9.025683539221063e-06, + "chamfer": 7.152837952162372e-06, + "track": 1.8728453596850159e-06, + "acceleration": 2.0240945275418198e-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": 9.45149986364413e-06, + "observation_loss": 9.318368938693311e-06, + "chamfer": 7.346526217588689e-06, + "track": 1.9718424937309464e-06, + "acceleration": 1.3313108127022133e-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": 9.964877790480386e-06, + "observation_loss": 9.881681762635708e-06, + "chamfer": 7.70725091570057e-06, + "track": 2.174430846935138e-06, + "acceleration": 8.319594257955032e-08, + "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": 1.0580076377664227e-05, + "observation_loss": 1.0325250514142681e-05, + "chamfer": 8.002094546100125e-06, + "track": 2.3231557406688808e-06, + "acceleration": 2.5482617616034986e-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": 1.0268591722706333e-05, + "observation_loss": 1.0143920917471405e-05, + "chamfer": 7.885855666245334e-06, + "track": 2.2580652512260713e-06, + "acceleration": 1.2467066312638053e-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": 9.95417849480873e-06, + "observation_loss": 9.793496246857103e-06, + "chamfer": 7.668107173230965e-06, + "track": 2.1253890736261383e-06, + "acceleration": 1.606822763733362e-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": 9.580197001923807e-06, + "observation_loss": 9.535117897030432e-06, + "chamfer": 7.499528692278545e-06, + "track": 2.035588977378211e-06, + "acceleration": 4.5078667909592696e-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": 9.340838914795313e-06, + "observation_loss": 9.284661246056203e-06, + "chamfer": 7.315903076232644e-06, + "track": 1.968758169823559e-06, + "acceleration": 5.6177722029815413e-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": 9.332584340882022e-06, + "observation_loss": 9.267215318686794e-06, + "chamfer": 7.295053819689201e-06, + "track": 1.972161271623918e-06, + "acceleration": 6.536932772860382e-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": 9.411332030140329e-06, + "observation_loss": 9.323179256170988e-06, + "chamfer": 7.326927516260184e-06, + "track": 1.9962517399108037e-06, + "acceleration": 8.815310792442688e-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": 9.372241038363427e-06, + "observation_loss": 9.314772796642501e-06, + "chamfer": 7.31622958483058e-06, + "track": 1.998543439185596e-06, + "acceleration": 5.746808540152415e-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": 9.463799869990908e-06, + "observation_loss": 9.323814083472826e-06, + "chamfer": 7.298229320440441e-06, + "track": 2.0255849904060597e-06, + "acceleration": 1.3998537440329528e-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": 9.650188076193444e-06, + "observation_loss": 9.35521165956743e-06, + "chamfer": 7.316584742511623e-06, + "track": 2.0386271444294835e-06, + "acceleration": 2.949763882043044e-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": 1.0051315257442184e-05, + "observation_loss": 9.42935366765596e-06, + "chamfer": 7.339759122260148e-06, + "track": 2.089594090648461e-06, + "acceleration": 6.219614760993863e-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": 1.0344316251575947e-05, + "observation_loss": 9.50978574110195e-06, + "chamfer": 7.3909800448745955e-06, + "track": 2.118805241480004e-06, + "acceleration": 8.34530681004253e-07, + "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": 9.92813966149697e-06, + "observation_loss": 9.534584933135193e-06, + "chamfer": 7.40497671358753e-06, + "track": 2.129608219547663e-06, + "acceleration": 3.935545578315214e-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": 9.801562555367127e-06, + "observation_loss": 9.675366527517326e-06, + "chamfer": 7.505310804845067e-06, + "track": 2.170055950045935e-06, + "acceleration": 1.2619634048860462e-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": 9.92910372588085e-06, + "observation_loss": 9.838835467235185e-06, + "chamfer": 7.607128281961195e-06, + "track": 2.2317069579003146e-06, + "acceleration": 9.02686281278875e-08, + "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": 1.014295412460342e-05, + "observation_loss": 1.00779479907942e-05, + "chamfer": 7.753497811791021e-06, + "track": 2.324450179003179e-06, + "acceleration": 6.500641802631435e-08, + "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": 1.0165142157347873e-05, + "observation_loss": 1.0108375136042014e-05, + "chamfer": 7.767501301714219e-06, + "track": 2.340873606954119e-06, + "acceleration": 5.6767476053209975e-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": 1.0260934686812107e-05, + "observation_loss": 1.0088009730679914e-05, + "chamfer": 7.73785086494172e-06, + "track": 2.35015909311187e-06, + "acceleration": 1.7292494192133745e-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": 1.0139292498934083e-05, + "observation_loss": 1.0039142580353655e-05, + "chamfer": 7.662391908525024e-06, + "track": 2.3767508992023068e-06, + "acceleration": 1.0015007489982963e-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": 1.0039871995104477e-05, + "observation_loss": 9.964411219698377e-06, + "chamfer": 7.586709216411691e-06, + "track": 2.3777022306603612e-06, + "acceleration": 7.546064750840742e-08, + "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": 1.0050654054793995e-05, + "observation_loss": 9.827435860643163e-06, + "chamfer": 7.4999124990426935e-06, + "track": 2.327522906853119e-06, + "acceleration": 2.2321859205476358e-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": 1.019172395899659e-05, + "observation_loss": 9.639870768296532e-06, + "chamfer": 7.396746241283836e-06, + "track": 2.2431240722653456e-06, + "acceleration": 5.518529633263825e-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": 9.900698387355078e-06, + "observation_loss": 9.587851309333928e-06, + "chamfer": 7.362667474808404e-06, + "track": 2.2251836071518483e-06, + "acceleration": 3.128468222257652e-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": 9.771797522262204e-06, + "observation_loss": 9.581332960806321e-06, + "chamfer": 7.368207661784254e-06, + "track": 2.2131255263957428e-06, + "acceleration": 1.904646751427208e-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": 9.771793884283397e-06, + "observation_loss": 9.645462341723032e-06, + "chamfer": 7.4181202762702014e-06, + "track": 2.2273422928265063e-06, + "acceleration": 1.2633120149985189e-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": 9.820359082368668e-06, + "observation_loss": 9.75940110947704e-06, + "chamfer": 7.496474609069992e-06, + "track": 2.262926273033372e-06, + "acceleration": 6.095790894278252e-08, + "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": 9.936825335898902e-06, + "observation_loss": 9.902008059725631e-06, + "chamfer": 7.584258582937764e-06, + "track": 2.3177497041615425e-06, + "acceleration": 3.481718025000191e-08, + "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": 1.0077589649881702e-05, + "observation_loss": 1.0019886758527718e-05, + "chamfer": 7.6284914030111395e-06, + "track": 2.391394900769228e-06, + "acceleration": 5.770292332840654e-08, + "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": 1.0311382538930047e-05, + "observation_loss": 1.0194107744609937e-05, + "chamfer": 7.70983660913771e-06, + "track": 2.484271135472227e-06, + "acceleration": 1.1727502169378567e-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": 1.0767846106318757e-05, + "observation_loss": 1.0566338460193947e-05, + "chamfer": 7.898982403276023e-06, + "track": 2.6673556021705735e-06, + "acceleration": 2.0150744717284397e-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": 1.1203887879673857e-05, + "observation_loss": 1.095270908990642e-05, + "chamfer": 8.096683814073913e-06, + "track": 2.856025503206183e-06, + "acceleration": 2.51179073984531e-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": 1.1465459465398453e-05, + "observation_loss": 1.1299666766717564e-05, + "chamfer": 8.289536708616652e-06, + "track": 3.0101300581009127e-06, + "acceleration": 1.6579281236772658e-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": 1.1586576874833554e-05, + "observation_loss": 1.1483321941341273e-05, + "chamfer": 8.376295227208175e-06, + "track": 3.1070271688804496e-06, + "acceleration": 1.0325515376052863e-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": 1.194531432702206e-05, + "observation_loss": 1.1740325135178864e-05, + "chamfer": 8.535213964933064e-06, + "track": 3.2051111702458e-06, + "acceleration": 2.0498882236097415e-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": 1.2300490197958425e-05, + "observation_loss": 1.2080463420716114e-05, + "chamfer": 8.731146408536006e-06, + "track": 3.349316784806433e-06, + "acceleration": 2.2002639354923303e-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": 1.2398320905049331e-05, + "observation_loss": 1.2319304914854001e-05, + "chamfer": 8.858551154844463e-06, + "track": 3.460753987383214e-06, + "acceleration": 7.901610388216795e-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": 1.2508911822806112e-05, + "observation_loss": 1.2427102774381638e-05, + "chamfer": 8.908288691600319e-06, + "track": 3.5188145375286695e-06, + "acceleration": 8.18087286802438e-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": 1.2562458323372994e-05, + "observation_loss": 1.249349043064285e-05, + "chamfer": 8.9459326773067e-06, + "track": 3.5475575259624748e-06, + "acceleration": 6.896763693475805e-08, + "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": 1.2576320841617417e-05, + "observation_loss": 1.2519634765340015e-05, + "chamfer": 8.93702690518694e-06, + "track": 3.5826076327794e-06, + "acceleration": 5.6686292992935705e-08, + "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": 1.259485179616604e-05, + "observation_loss": 1.2537667316792067e-05, + "chamfer": 8.922590495785698e-06, + "track": 3.615076821006369e-06, + "acceleration": 5.718460371895162e-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": 1.265261471417034e-05, + "observation_loss": 1.2523145414888859e-05, + "chamfer": 8.922411325329449e-06, + "track": 3.6007340895594098e-06, + "acceleration": 1.294690576969515e-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": 1.2597745808307081e-05, + "observation_loss": 1.2483235877880361e-05, + "chamfer": 8.89985585672548e-06, + "track": 3.5833800211548805e-06, + "acceleration": 1.1451011516783183e-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": 1.2468762179196347e-05, + "observation_loss": 1.2456265721993987e-05, + "chamfer": 8.86992256710073e-06, + "track": 3.5863429275195813e-06, + "acceleration": 1.2496749413060115e-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": 1.2474348295654636e-05, + "observation_loss": 1.2420227903930936e-05, + "chamfer": 8.836294000502676e-06, + "track": 3.5839339034282602e-06, + "acceleration": 5.4120523174105983e-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": 1.2491852430684958e-05, + "observation_loss": 1.2379732652334496e-05, + "chamfer": 8.802143383945804e-06, + "track": 3.5775894957623677e-06, + "acceleration": 1.1212001993499143e-07, + "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": 1.2392693861329462e-05, + "observation_loss": 1.2280030205147341e-05, + "chamfer": 8.749198059376795e-06, + "track": 3.530832145770546e-06, + "acceleration": 1.1266349275729226e-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": 1.2135605174989905e-05, + "observation_loss": 1.2084922673238907e-05, + "chamfer": 8.643329238111619e-06, + "track": 3.4415936625009635e-06, + "acceleration": 5.0682658070400066e-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": 9.735285968777893e-06, + "chamfer_mean": 6.736976433311763e-06, + "track_mean": 1.964394398257241e-06, + "acceleration_mean": 1.0339151100176764e-06, + "observation_score": 8.701370866504021e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4158070440007577 + }, + "score_arrays_file": "pass_scores/pass_end_0115.npz", + "score_arrays_sha256": "ce9822ec15c81bccf5fe7cc69821b3e780453ee17d0f9a96eedda080faceb727" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0116.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0116.json new file mode 100644 index 0000000000000000000000000000000000000000..6c6e23a5bc8a541024ddce4fe7cffd19bf8de3e6 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0116.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11136, + "completed_passes": 116, + "snapshot": "pass_end_0116", + "candidate": true, + "snapshot_arrays_sha256": "3a7b2420e1227be189bab850ea9651a9117c0397cd408ed2208d7e5d43bfe415", + "score": 8.690932695287756e-06, + "score_result": { + "score": 8.690932695287756e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9757745778624667e-06, + 3.3739388527465053e-06, + 3.850487701129168e-06, + 4.879814696323592e-06, + 5.8009204622067045e-06, + 6.2714852901990525e-06, + 6.336887508950895e-06, + 6.105718512117164e-06, + 5.870540462638019e-06, + 5.793581294710748e-06, + 5.967227025394095e-06, + 6.198170012794435e-06, + 6.438704986067023e-06, + 6.661696716037113e-06, + 6.787216079828795e-06, + 6.93653964844998e-06, + 6.8321460275910795e-06, + 6.545328687934671e-06, + 6.355743153108051e-06, + 6.342968845274299e-06, + 6.366397883539321e-06, + 6.258278062887257e-06, + 5.994158527755644e-06, + 5.877358489669859e-06, + 6.100507562223356e-06, + 6.5056283347075805e-06, + 6.770008440071251e-06, + 6.863580892968457e-06, + 6.774435405532131e-06, + 6.620207386731636e-06, + 6.51421532893437e-06, + 6.570663572347257e-06, + 6.70738700137008e-06, + 6.993617716943845e-06, + 7.236627425299957e-06, + 7.585372713947436e-06, + 7.882948011683766e-06, + 7.946511686895974e-06, + 7.915874448372051e-06, + 8.062175766099244e-06, + 8.440780220553279e-06, + 8.770070962782484e-06, + 8.90897172212135e-06, + 9.058057912625372e-06, + 9.08195215743035e-06, + 9.050521839526482e-06, + 9.004642379295547e-06, + 9.298196346207988e-06, + 9.862339538813103e-06, + 1.0306726835551672e-05, + 1.0126161214429885e-05, + 9.776898878044449e-06, + 9.519289960735478e-06, + 9.268753274227493e-06, + 9.251553819922265e-06, + 9.307753316534217e-06, + 9.300488272856455e-06, + 9.309927918366157e-06, + 9.34206855163211e-06, + 9.415778549737297e-06, + 9.498720828560181e-06, + 9.525436325930059e-06, + 9.66804327617865e-06, + 9.834329830482602e-06, + 1.0076711987494491e-05, + 1.0110504263138864e-05, + 1.0091851436300203e-05, + 1.0044334885606077e-05, + 9.971342478820588e-06, + 9.834593583946116e-06, + 9.647376828070264e-06, + 9.5955319920904e-06, + 9.587720342096873e-06, + 9.65033996180864e-06, + 9.763552043295931e-06, + 9.90504486253485e-06, + 1.0020837180491071e-05, + 1.0194635251536965e-05, + 1.0566665878286585e-05, + 1.0953148375847377e-05, + 1.1300719052087516e-05, + 1.1482875379442703e-05, + 1.1739024557755329e-05, + 1.2077918654540554e-05, + 1.2318172593950294e-05, + 1.2426523426256608e-05, + 1.2492564565036446e-05, + 1.2518050425569527e-05, + 1.2536113899841439e-05, + 1.2521250937425066e-05, + 1.2481621524784714e-05, + 1.2455066098482348e-05, + 1.2419423910614569e-05, + 1.2380655789456796e-05, + 1.2280672308406793e-05, + 1.2086385140719358e-05 + ] + ], + "episode_mean_losses": [ + 8.690932695287756e-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": 2.9757745778624667e-06, + "observation_loss": 2.9757745778624667e-06, + "chamfer": 2.523514012864325e-06, + "track": 4.522604797330132e-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": 4.603104753186926e-05, + "observation_loss": 3.3739388527465053e-06, + "chamfer": 2.8534541343105957e-06, + "track": 5.204848321227473e-07, + "acceleration": 4.265710958861746e-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": 2.808784120134078e-05, + "observation_loss": 3.850487701129168e-06, + "chamfer": 3.2449220270791557e-06, + "track": 6.055655603631749e-07, + "acceleration": 2.423735350021161e-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": 1.3472378668666352e-05, + "observation_loss": 4.879814696323592e-06, + "chamfer": 4.0439317672280595e-06, + "track": 8.35882815408695e-07, + "acceleration": 8.59256397234276e-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": 1.0175586794503033e-05, + "observation_loss": 5.8009204622067045e-06, + "chamfer": 4.70754139314522e-06, + "track": 1.0933790690614842e-06, + "acceleration": 4.374665877548978e-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": 7.913404260762036e-06, + "observation_loss": 6.2714852901990525e-06, + "chamfer": 5.012781457480742e-06, + "track": 1.2587038327183109e-06, + "acceleration": 1.6419194253103342e-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": 8.095710654743016e-06, + "observation_loss": 6.336887508950895e-06, + "chamfer": 5.0311264203628525e-06, + "track": 1.30576120227488e-06, + "acceleration": 1.7588232594789588e-06, + "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": 6.993713213887531e-06, + "observation_loss": 6.105718512117164e-06, + "chamfer": 4.85908367409138e-06, + "track": 1.2466347243389464e-06, + "acceleration": 8.879945312401105e-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": 6.562007911270484e-06, + "observation_loss": 5.870540462638019e-06, + "chamfer": 4.694842118624365e-06, + "track": 1.1756983440136537e-06, + "acceleration": 6.91467334945628e-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": 6.291521003731759e-06, + "observation_loss": 5.793581294710748e-06, + "chamfer": 4.663097115553683e-06, + "track": 1.1304841791570652e-06, + "acceleration": 4.97939879551268e-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": 6.260534519242356e-06, + "observation_loss": 5.967227025394095e-06, + "chamfer": 4.828900728170993e-06, + "track": 1.13832641090994e-06, + "acceleration": 2.933076075350982e-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": 6.409426077880198e-06, + "observation_loss": 6.198170012794435e-06, + "chamfer": 5.026534381613601e-06, + "track": 1.1716354038071586e-06, + "acceleration": 2.112558661337971e-07, + "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": 6.527848654513946e-06, + "observation_loss": 6.438704986067023e-06, + "chamfer": 5.237810000835452e-06, + "track": 1.2008948715447332e-06, + "acceleration": 8.914358318179438e-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": 6.799169113946846e-06, + "observation_loss": 6.661696716037113e-06, + "chamfer": 5.432885700429324e-06, + "track": 1.2288111292946269e-06, + "acceleration": 1.3747252580742497e-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": 6.949186627025483e-06, + "observation_loss": 6.787216079828795e-06, + "chamfer": 5.546379725274164e-06, + "track": 1.2408365819283063e-06, + "acceleration": 1.6197070351609e-07, + "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": 7.067212209221907e-06, + "observation_loss": 6.93653964844998e-06, + "chamfer": 5.674325620930176e-06, + "track": 1.2622139138329658e-06, + "acceleration": 1.306723476091065e-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": 7.018578344286652e-06, + "observation_loss": 6.8321460275910795e-06, + "chamfer": 5.595062702923315e-06, + "track": 1.2370835520414403e-06, + "acceleration": 1.8643243038241053e-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": 6.782840046071215e-06, + "observation_loss": 6.545328687934671e-06, + "chamfer": 5.380196398618864e-06, + "track": 1.1651320619421313e-06, + "acceleration": 2.3751142919081758e-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": 6.4848286456253845e-06, + "observation_loss": 6.355743153108051e-06, + "chamfer": 5.2421178224904e-06, + "track": 1.1136253306176513e-06, + "acceleration": 1.290855067281882e-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": 6.462029887188692e-06, + "observation_loss": 6.342968845274299e-06, + "chamfer": 5.235728622210445e-06, + "track": 1.10724045043753e-06, + "acceleration": 1.1906119112836677e-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": 6.53525830784929e-06, + "observation_loss": 6.366397883539321e-06, + "chamfer": 5.252586561255157e-06, + "track": 1.1138114359710016e-06, + "acceleration": 1.688605664185161e-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": 6.4106425270438194e-06, + "observation_loss": 6.258278062887257e-06, + "chamfer": 5.174538273422513e-06, + "track": 1.083739675777906e-06, + "acceleration": 1.5236463468681904e-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": 6.154267794045154e-06, + "observation_loss": 5.994158527755644e-06, + "chamfer": 4.9727723308024e-06, + "track": 1.0213860832664068e-06, + "acceleration": 1.601092236569457e-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": 6.0157576626806986e-06, + "observation_loss": 5.877358489669859e-06, + "chamfer": 4.874683327216189e-06, + "track": 1.0026750487668323e-06, + "acceleration": 1.3839917301083915e-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": 6.239233243832132e-06, + "observation_loss": 6.100507562223356e-06, + "chamfer": 5.031003638578113e-06, + "track": 1.069503923645243e-06, + "acceleration": 1.3872559634364734e-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": 6.7794321694236714e-06, + "observation_loss": 6.5056283347075805e-06, + "chamfer": 5.321618573361775e-06, + "track": 1.184009988719481e-06, + "acceleration": 2.7380403366805695e-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": 7.057682978484081e-06, + "observation_loss": 6.770008440071251e-06, + "chamfer": 5.508117283170577e-06, + "track": 1.2618913842743495e-06, + "acceleration": 2.876745668345393e-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": 7.062245458655525e-06, + "observation_loss": 6.863580892968457e-06, + "chamfer": 5.583233360084705e-06, + "track": 1.2803473055100767e-06, + "acceleration": 1.986645514762131e-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": 7.244430435093818e-06, + "observation_loss": 6.774435405532131e-06, + "chamfer": 5.523189884115709e-06, + "track": 1.2512456351032597e-06, + "acceleration": 4.699949727182684e-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": 6.884268259454984e-06, + "observation_loss": 6.620207386731636e-06, + "chamfer": 5.411374331742991e-06, + "track": 1.2088329413018073e-06, + "acceleration": 2.640608158799296e-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": 6.58769113215385e-06, + "observation_loss": 6.51421532893437e-06, + "chamfer": 5.3354829105956014e-06, + "track": 1.178732532025606e-06, + "acceleration": 7.347598085516438e-08, + "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": 6.624105026276084e-06, + "observation_loss": 6.570663572347257e-06, + "chamfer": 5.384517862694338e-06, + "track": 1.1861457096529193e-06, + "acceleration": 5.344165288079239e-08, + "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": 6.773884251742857e-06, + "observation_loss": 6.70738700137008e-06, + "chamfer": 5.4950382946117315e-06, + "track": 1.2123487067583483e-06, + "acceleration": 6.649718642393054e-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": 7.103287771315081e-06, + "observation_loss": 6.993617716943845e-06, + "chamfer": 5.706448519049445e-06, + "track": 1.2871693115812377e-06, + "acceleration": 1.0966989805183402e-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": 7.324043508560862e-06, + "observation_loss": 7.236627425299957e-06, + "chamfer": 5.8905875448544975e-06, + "track": 1.3460398804454599e-06, + "acceleration": 8.741616852603329e-08, + "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": 7.720434041402768e-06, + "observation_loss": 7.585372713947436e-06, + "chamfer": 6.147096883069025e-06, + "track": 1.4382758308784105e-06, + "acceleration": 1.350611285033665e-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": 7.93556773714954e-06, + "observation_loss": 7.882948011683766e-06, + "chamfer": 6.3598590713809244e-06, + "track": 1.523089053989679e-06, + "acceleration": 5.26192955874194e-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": 8.303231879835948e-06, + "observation_loss": 7.946511686895974e-06, + "chamfer": 6.412431957869558e-06, + "track": 1.5340801837737672e-06, + "acceleration": 3.5672027820510266e-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": 8.027542207855731e-06, + "observation_loss": 7.915874448372051e-06, + "chamfer": 6.410932655853685e-06, + "track": 1.5049419062052038e-06, + "acceleration": 1.1166813607133008e-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": 8.248786798503716e-06, + "observation_loss": 8.062175766099244e-06, + "chamfer": 6.520281658595195e-06, + "track": 1.5418944485645625e-06, + "acceleration": 1.8661070555481274e-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": 8.663259905006271e-06, + "observation_loss": 8.440780220553279e-06, + "chamfer": 6.786995527363615e-06, + "track": 1.653785034250177e-06, + "acceleration": 2.2248008235692396e-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": 8.915802936826367e-06, + "observation_loss": 8.770070962782484e-06, + "chamfer": 7.012356491031824e-06, + "track": 1.757714812811173e-06, + "acceleration": 1.4573221562841354e-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": 9.005735591927078e-06, + "observation_loss": 8.90897172212135e-06, + "chamfer": 7.0907535700825974e-06, + "track": 1.8182176972914021e-06, + "acceleration": 9.676347190179513e-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": 9.116288310906384e-06, + "observation_loss": 9.058057912625372e-06, + "chamfer": 7.184348305599997e-06, + "track": 1.8737097207122133e-06, + "acceleration": 5.823039117558437e-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": 9.166876225208398e-06, + "observation_loss": 9.08195215743035e-06, + "chamfer": 7.196043952717446e-06, + "track": 1.885907749965554e-06, + "acceleration": 8.492393277492738e-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": 9.131353181146551e-06, + "observation_loss": 9.050521839526482e-06, + "chamfer": 7.173345238697948e-06, + "track": 1.8771767145153717e-06, + "acceleration": 8.083124924951335e-08, + "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": 9.205715286952909e-06, + "observation_loss": 9.004642379295547e-06, + "chamfer": 7.1377999120159075e-06, + "track": 1.8668428083401523e-06, + "acceleration": 2.0107296450078138e-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": 9.429648343939334e-06, + "observation_loss": 9.298196346207988e-06, + "chamfer": 7.332179393415572e-06, + "track": 1.9660169527924154e-06, + "acceleration": 1.3145236721356923e-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": 9.944385055860039e-06, + "observation_loss": 9.862339538813103e-06, + "chamfer": 7.693760380789172e-06, + "track": 2.1685793853976065e-06, + "acceleration": 8.204549573065378e-08, + "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": 1.0562034731265157e-05, + "observation_loss": 1.0306726835551672e-05, + "chamfer": 7.989325240487233e-06, + "track": 2.3174020498117898e-06, + "acceleration": 2.553078388700669e-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": 1.0250180821458343e-05, + "observation_loss": 1.0126161214429885e-05, + "chamfer": 7.873508366174065e-06, + "track": 2.252653075629496e-06, + "acceleration": 1.2401974913700542e-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": 9.938020411937032e-06, + "observation_loss": 9.776898878044449e-06, + "chamfer": 7.65655750001315e-06, + "track": 2.120341605404974e-06, + "acceleration": 1.6112177547711326e-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": 9.564551874063909e-06, + "observation_loss": 9.519289960735478e-06, + "chamfer": 7.48862476029899e-06, + "track": 2.0306654278101632e-06, + "acceleration": 4.526183516873061e-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": 9.324481652583927e-06, + "observation_loss": 9.268753274227493e-06, + "chamfer": 7.304779046535259e-06, + "track": 1.9639737729448825e-06, + "acceleration": 5.5727962688933985e-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": 9.316135219705757e-06, + "observation_loss": 9.251553819922265e-06, + "chamfer": 7.2843340603867546e-06, + "track": 1.9672199869091855e-06, + "acceleration": 6.458162715716753e-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": 9.394936569151469e-06, + "observation_loss": 9.307753316534217e-06, + "chamfer": 7.316399205592461e-06, + "track": 1.991354338315432e-06, + "acceleration": 8.718370736460201e-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": 9.355998372484464e-06, + "observation_loss": 9.300488272856455e-06, + "chamfer": 7.306506631721277e-06, + "track": 1.9939816411351785e-06, + "acceleration": 5.5510476215658855e-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": 9.449779099668376e-06, + "observation_loss": 9.309927918366157e-06, + "chamfer": 7.288861070264829e-06, + "track": 2.021067302848678e-06, + "acceleration": 1.398515223627328e-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": 9.6366738944198e-06, + "observation_loss": 9.34206855163211e-06, + "chamfer": 7.3079659159702715e-06, + "track": 2.034102408288163e-06, + "acceleration": 2.9460497330546787e-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": 1.0038554137281608e-05, + "observation_loss": 9.415778549737297e-06, + "chamfer": 7.3309324761794414e-06, + "track": 2.0848465283052064e-06, + "acceleration": 6.227757012311486e-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": 1.0334917533327825e-05, + "observation_loss": 9.498720828560181e-06, + "chamfer": 7.384120635833824e-06, + "track": 2.114599737979006e-06, + "acceleration": 8.36196875297901e-07, + "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": 9.920016054820735e-06, + "observation_loss": 9.525436325930059e-06, + "chamfer": 7.399346031888854e-06, + "track": 2.126090748788556e-06, + "acceleration": 3.9458009837289865e-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": 9.794584002520423e-06, + "observation_loss": 9.66804327617865e-06, + "chamfer": 7.500820174755063e-06, + "track": 2.1672226466762368e-06, + "acceleration": 1.2654065528749925e-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": 9.924802725436166e-06, + "observation_loss": 9.834329830482602e-06, + "chamfer": 7.604405709571438e-06, + "track": 2.229924575658515e-06, + "acceleration": 9.047267468531572e-08, + "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": 1.0141085112991277e-05, + "observation_loss": 1.0076711987494491e-05, + "chamfer": 7.752922101644799e-06, + "track": 2.3237896584760165e-06, + "acceleration": 6.437354471700019e-08, + "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": 1.0166199899686035e-05, + "observation_loss": 1.0110504263138864e-05, + "chamfer": 7.76911747379927e-06, + "track": 2.3413867893395945e-06, + "acceleration": 5.56958674735597e-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": 1.0265706805512309e-05, + "observation_loss": 1.0091851436300203e-05, + "chamfer": 7.74065665609669e-06, + "track": 2.351194325456163e-06, + "acceleration": 1.7385573869432847e-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": 1.014487770589767e-05, + "observation_loss": 1.0044334885606077e-05, + "chamfer": 7.665988960070536e-06, + "track": 2.3783456981618656e-06, + "acceleration": 1.0054270660475595e-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": 1.0046824172604829e-05, + "observation_loss": 9.971342478820588e-06, + "chamfer": 7.59149997975328e-06, + "track": 2.379842271693633e-06, + "acceleration": 7.5481899841634e-08, + "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": 1.0058480256702751e-05, + "observation_loss": 9.834593583946116e-06, + "chamfer": 7.504784662160091e-06, + "track": 2.329808921786025e-06, + "acceleration": 2.2388651643723279e-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": 1.0201079930993728e-05, + "observation_loss": 9.647376828070264e-06, + "chamfer": 7.401976290566381e-06, + "track": 2.2454005375038832e-06, + "acceleration": 5.537028187063697e-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": 9.909936125040986e-06, + "observation_loss": 9.5955319920904e-06, + "chamfer": 7.367938451352529e-06, + "track": 2.2275937681115465e-06, + "acceleration": 3.144041897940042e-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": 9.777927516552154e-06, + "observation_loss": 9.587720342096873e-06, + "chamfer": 7.3722990237001795e-06, + "track": 2.215420863649342e-06, + "acceleration": 1.9020679076220404e-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": 9.771161785465665e-06, + "observation_loss": 9.65033996180864e-06, + "chamfer": 7.421133886964526e-06, + "track": 2.2292060748441145e-06, + "acceleration": 1.208213973313832e-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": 9.823786058404949e-06, + "observation_loss": 9.763552043295931e-06, + "chamfer": 7.499245839426294e-06, + "track": 2.264306203869637e-06, + "acceleration": 6.023366694307697e-08, + "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": 9.939763003785629e-06, + "observation_loss": 9.90504486253485e-06, + "chamfer": 7.586298579553841e-06, + "track": 2.3187460556073347e-06, + "acceleration": 3.471777532126907e-08, + "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": 1.0080144420498982e-05, + "observation_loss": 1.0020837180491071e-05, + "chamfer": 7.629018909938168e-06, + "track": 2.391818497926579e-06, + "acceleration": 5.930767343897969e-08, + "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": 1.0313525308447424e-05, + "observation_loss": 1.0194635251536965e-05, + "chamfer": 7.710282261541579e-06, + "track": 2.4843534447427373e-06, + "acceleration": 1.1889005691045895e-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": 1.0766038030851632e-05, + "observation_loss": 1.0566665878286585e-05, + "chamfer": 7.899252523202449e-06, + "track": 2.6674129003367852e-06, + "acceleration": 1.993722946735943e-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": 1.1194059879926499e-05, + "observation_loss": 1.0953148375847377e-05, + "chamfer": 8.097089448710904e-06, + "track": 2.856059154510149e-06, + "acceleration": 2.409116177659598e-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": 1.1467902368167415e-05, + "observation_loss": 1.1300719052087516e-05, + "chamfer": 8.290371624752879e-06, + "track": 3.0103478820819873e-06, + "acceleration": 1.671829608085318e-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": 1.1587515473365784e-05, + "observation_loss": 1.1482875379442703e-05, + "chamfer": 8.375898687518202e-06, + "track": 3.1069769192981767e-06, + "acceleration": 1.046401294502175e-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": 1.1946279300900642e-05, + "observation_loss": 1.1739024557755329e-05, + "chamfer": 8.534681910532527e-06, + "track": 3.204342647222802e-06, + "acceleration": 2.0725475735616783e-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": 1.2300270100240596e-05, + "observation_loss": 1.2077918654540554e-05, + "chamfer": 8.730047738936264e-06, + "track": 3.3478713703516405e-06, + "acceleration": 2.2235117569380236e-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": 1.2398247235978488e-05, + "observation_loss": 1.2318172593950294e-05, + "chamfer": 8.858700311975554e-06, + "track": 3.4594727367220912e-06, + "acceleration": 8.007464913362128e-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": 1.2507581232057419e-05, + "observation_loss": 1.2426523426256608e-05, + "chamfer": 8.908685231290292e-06, + "track": 3.5178379675926408e-06, + "acceleration": 8.105735815888693e-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": 1.2561196854221635e-05, + "observation_loss": 1.2492564565036446e-05, + "chamfer": 8.946134585130494e-06, + "track": 3.546429525158601e-06, + "acceleration": 6.86320404952312e-08, + "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": 1.2574001630127896e-05, + "observation_loss": 1.2518050425569527e-05, + "chamfer": 8.936740414355882e-06, + "track": 3.5813095564662945e-06, + "acceleration": 5.595115482037727e-08, + "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": 1.2591711310960818e-05, + "observation_loss": 1.2536113899841439e-05, + "chamfer": 8.922338565753307e-06, + "track": 3.6137755614618072e-06, + "acceleration": 5.5597318748823454e-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": 1.2649595191760454e-05, + "observation_loss": 1.2521250937425066e-05, + "chamfer": 8.921930202632211e-06, + "track": 3.5993207347928546e-06, + "acceleration": 1.283444106547904e-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": 1.2595695807249285e-05, + "observation_loss": 1.2481621524784714e-05, + "chamfer": 8.899596650735475e-06, + "track": 3.5820246466755634e-06, + "acceleration": 1.1407443167854581e-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": 1.2466827683965676e-05, + "observation_loss": 1.2455066098482348e-05, + "chamfer": 8.86984071257757e-06, + "track": 3.5852258406521287e-06, + "acceleration": 1.1761956741906943e-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": 1.247291402250994e-05, + "observation_loss": 1.2419423910614569e-05, + "chamfer": 8.836258530209307e-06, + "track": 3.5831656077789376e-06, + "acceleration": 5.3490332163619314e-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": 1.2493306712713093e-05, + "observation_loss": 1.2380655789456796e-05, + "chamfer": 8.803322998574004e-06, + "track": 3.577332563509117e-06, + "acceleration": 1.1265127852766454e-07, + "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": 1.2394044460961595e-05, + "observation_loss": 1.2280672308406793e-05, + "chamfer": 8.750103006605059e-06, + "track": 3.530569529175409e-06, + "acceleration": 1.1337258598587141e-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": 1.2137319572502747e-05, + "observation_loss": 1.2086385140719358e-05, + "chamfer": 8.644793524581473e-06, + "track": 3.441591388764209e-06, + "acceleration": 5.093422217328225e-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": 9.724189271291076e-06, + "chamfer_mean": 6.729510938422815e-06, + "track_mean": 1.9614217926881374e-06, + "acceleration_mean": 1.0332566050726595e-06, + "observation_score": 8.690932695287756e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4171833620002872 + }, + "score_arrays_file": "pass_scores/pass_end_0116.npz", + "score_arrays_sha256": "cda7ae1056f8bbdda4426f782401ae0e196adf3c07e0f7857312355bee63be57" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0117.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0117.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccef72bea57cafea46c5397ce04869687bcfb70 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0117.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11232, + "completed_passes": 117, + "snapshot": "pass_end_0117", + "candidate": true, + "snapshot_arrays_sha256": "8a01f51f30ac100723c6c64d459adc05e681647dd3ca6a621d9a1d59e5624e9b", + "score": 8.681624774927362e-06, + "score_result": { + "score": 8.681624774927362e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.974533799715573e-06, + 3.371226057424792e-06, + 3.843576905637747e-06, + 4.8661354412615765e-06, + 5.7855763770930935e-06, + 6.253121682675555e-06, + 6.320828106254339e-06, + 6.098899575590622e-06, + 5.869224423804553e-06, + 5.792118372482946e-06, + 5.957386292720912e-06, + 6.187638518895255e-06, + 6.423741069738753e-06, + 6.643961569352541e-06, + 6.769031188014196e-06, + 6.916121037647827e-06, + 6.8114786699879915e-06, + 6.525249318656279e-06, + 6.335463240247918e-06, + 6.323190973489545e-06, + 6.3457282521994784e-06, + 6.2372641878027935e-06, + 5.974485702608945e-06, + 5.857253654539818e-06, + 6.076946192479227e-06, + 6.480524916696595e-06, + 6.746737199136987e-06, + 6.841875801910646e-06, + 6.755452886864077e-06, + 6.6027855609718245e-06, + 6.497460617538309e-06, + 6.55607027510996e-06, + 6.69257178742555e-06, + 6.978614692343399e-06, + 7.2214988904306665e-06, + 7.570525667688344e-06, + 7.866793566790875e-06, + 7.930639185360633e-06, + 7.898716830823105e-06, + 8.042939043662045e-06, + 8.42209738038946e-06, + 8.752156645641662e-06, + 8.889844139048364e-06, + 9.038873031386174e-06, + 9.06396599020809e-06, + 9.033405149239115e-06, + 8.989759407995734e-06, + 9.2849159045727e-06, + 9.850463356997352e-06, + 1.0296473192283884e-05, + 1.0115989425685257e-05, + 9.766995390236843e-06, + 9.509516530670226e-06, + 9.258670615963638e-06, + 9.240627150575165e-06, + 9.29647922021104e-06, + 9.289838999393396e-06, + 9.298893019149546e-06, + 9.331900400866289e-06, + 9.404922820976935e-06, + 9.49004606809467e-06, + 9.518630577076692e-06, + 9.662731827120297e-06, + 9.831426723394543e-06, + 1.0077130355057307e-05, + 1.0113864846061915e-05, + 1.0096422556671314e-05, + 1.0050639502878767e-05, + 9.979042260965798e-06, + 9.842684448813088e-06, + 9.65520757745253e-06, + 9.602747013559565e-06, + 9.593357390258461e-06, + 9.653935194364749e-06, + 9.765994036570191e-06, + 9.905980732582975e-06, + 1.0020165973401163e-05, + 1.0193136404268444e-05, + 1.0564938747847918e-05, + 1.0951484000543132e-05, + 1.1299867765046656e-05, + 1.1481200999696739e-05, + 1.1737026397895534e-05, + 1.2075652193743736e-05, + 1.2317377695580944e-05, + 1.2424987289705314e-05, + 1.2490413610066753e-05, + 1.2515646631072741e-05, + 1.25336828205036e-05, + 1.2518788935267366e-05, + 1.2479157703637611e-05, + 1.2451785551093053e-05, + 1.241665449924767e-05, + 1.2379329746181611e-05, + 1.227958819072228e-05, + 1.2086076822015457e-05 + ] + ], + "episode_mean_losses": [ + 8.681624774927362e-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": 2.974533799715573e-06, + "observation_loss": 2.974533799715573e-06, + "chamfer": 2.522482191125164e-06, + "track": 4.5205169385553745e-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": 4.593702033162117e-05, + "observation_loss": 3.371226057424792e-06, + "chamfer": 2.851199724318576e-06, + "track": 5.200263899496349e-07, + "acceleration": 4.256579268258065e-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": 2.802195376716554e-05, + "observation_loss": 3.843576905637747e-06, + "chamfer": 3.2393509172834456e-06, + "track": 6.042259883543011e-07, + "acceleration": 2.4178376406780444e-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": 1.3430184480967e-05, + "observation_loss": 4.8661354412615765e-06, + "chamfer": 4.033623554278165e-06, + "track": 8.32512057513668e-07, + "acceleration": 8.564049494452775e-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": 1.0158053555642255e-05, + "observation_loss": 5.7855763770930935e-06, + "chamfer": 4.697256372310221e-06, + "track": 1.08832011846971e-06, + "acceleration": 4.372477633296512e-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": 7.899820047896355e-06, + "observation_loss": 6.253121682675555e-06, + "chamfer": 5.000964847567957e-06, + "track": 1.252156607733923e-06, + "acceleration": 1.6466979104734492e-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": 8.061353582888842e-06, + "observation_loss": 6.320828106254339e-06, + "chamfer": 5.020770458941115e-06, + "track": 1.3000578746868996e-06, + "acceleration": 1.7405251355739892e-06, + "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": 6.969090918573784e-06, + "observation_loss": 6.098899575590622e-06, + "chamfer": 4.854464350501075e-06, + "track": 1.2444352250895463e-06, + "acceleration": 8.701913998265809e-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": 6.580994977412047e-06, + "observation_loss": 5.869224423804553e-06, + "chamfer": 4.693937171396101e-06, + "track": 1.17528736609529e-06, + "acceleration": 7.117706104509125e-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": 6.317930456134491e-06, + "observation_loss": 5.792118372482946e-06, + "chamfer": 4.6620925786555745e-06, + "track": 1.1300257938273717e-06, + "acceleration": 5.258121973383822e-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": 6.290617875492899e-06, + "observation_loss": 5.957386292720912e-06, + "chamfer": 4.821947641175939e-06, + "track": 1.1354386515449733e-06, + "acceleration": 3.3323149750685843e-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": 6.427851985790767e-06, + "observation_loss": 6.187638518895255e-06, + "chamfer": 5.019508535042405e-06, + "track": 1.168130097539688e-06, + "acceleration": 2.402136658474774e-07, + "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": 6.523435331473593e-06, + "observation_loss": 6.423741069738753e-06, + "chamfer": 5.227552264841506e-06, + "track": 1.1961890322709223e-06, + "acceleration": 9.96943327891131e-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": 6.795429726480506e-06, + "observation_loss": 6.643961569352541e-06, + "chamfer": 5.420637990027899e-06, + "track": 1.2233234656378045e-06, + "acceleration": 1.5146824239309353e-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": 6.9525040089502e-06, + "observation_loss": 6.769031188014196e-06, + "chamfer": 5.533558578463271e-06, + "track": 1.2354727232377627e-06, + "acceleration": 1.8347293462284142e-07, + "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": 7.0508203862118535e-06, + "observation_loss": 6.916121037647827e-06, + "chamfer": 5.659651378664421e-06, + "track": 1.256469545296568e-06, + "acceleration": 1.3469957593770232e-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": 6.999988272582414e-06, + "observation_loss": 6.8114786699879915e-06, + "chamfer": 5.580001925409306e-06, + "track": 1.2314765172050102e-06, + "acceleration": 1.8850974470296933e-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": 6.764182217011694e-06, + "observation_loss": 6.525249318656279e-06, + "chamfer": 5.365152446756838e-06, + "track": 1.1600967582126032e-06, + "acceleration": 2.3893284151199623e-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": 6.466627382906154e-06, + "observation_loss": 6.335463240247918e-06, + "chamfer": 5.226669600233436e-06, + "track": 1.1087937537013204e-06, + "acceleration": 1.3116417107994494e-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": 6.443783604481723e-06, + "observation_loss": 6.323190973489545e-06, + "chamfer": 5.22073150932556e-06, + "track": 1.102459464163985e-06, + "acceleration": 1.2059277310072503e-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": 6.516641406051349e-06, + "observation_loss": 6.3457282521994784e-06, + "chamfer": 5.2368595788720995e-06, + "track": 1.1088687870142167e-06, + "acceleration": 1.709133812255459e-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": 6.392131126631284e-06, + "observation_loss": 6.2372641878027935e-06, + "chamfer": 5.1583556341938674e-06, + "track": 1.0789084399220883e-06, + "acceleration": 1.5486702409361897e-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": 6.136509000498336e-06, + "observation_loss": 5.974485702608945e-06, + "chamfer": 4.957531928084791e-06, + "track": 1.0169536608373164e-06, + "acceleration": 1.6202326946768153e-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": 5.995168976369314e-06, + "observation_loss": 5.857253654539818e-06, + "chamfer": 4.859057298745029e-06, + "track": 9.981962421079515e-07, + "acceleration": 1.379153644620601e-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": 6.2147983044269495e-06, + "observation_loss": 6.076946192479227e-06, + "chamfer": 5.0126741371059325e-06, + "track": 1.0642722827469697e-06, + "acceleration": 1.3785221142370574e-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": 6.755257345503196e-06, + "observation_loss": 6.480524916696595e-06, + "chamfer": 5.302541467244737e-06, + "track": 1.177983563138696e-06, + "acceleration": 2.7473257091514824e-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": 7.034648206172278e-06, + "observation_loss": 6.746737199136987e-06, + "chamfer": 5.490646799444221e-06, + "track": 1.2560903996927664e-06, + "acceleration": 2.879110638787097e-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": 7.041575372568332e-06, + "observation_loss": 6.841875801910646e-06, + "chamfer": 5.566660092881648e-06, + "track": 1.275215481655323e-06, + "acceleration": 1.9969971276623255e-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": 7.232354619191028e-06, + "observation_loss": 6.755452886864077e-06, + "chamfer": 5.508552021638025e-06, + "track": 1.2469008652260527e-06, + "acceleration": 4.76901675483532e-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": 6.8678696152346674e-06, + "observation_loss": 6.6027855609718245e-06, + "chamfer": 5.397787845140556e-06, + "track": 1.2049977158312686e-06, + "acceleration": 2.650838837325864e-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": 6.569716788362712e-06, + "observation_loss": 6.497460617538309e-06, + "chamfer": 5.322410288499668e-06, + "track": 1.1750503290386405e-06, + "acceleration": 7.225600029414636e-08, + "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": 6.609579031646717e-06, + "observation_loss": 6.55607027510996e-06, + "chamfer": 5.373145086196018e-06, + "track": 1.1829250752271037e-06, + "acceleration": 5.3508724562334464e-08, + "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": 6.75751152812154e-06, + "observation_loss": 6.69257178742555e-06, + "chamfer": 5.483349923451897e-06, + "track": 1.209221863973653e-06, + "acceleration": 6.493984017197363e-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": 7.08849256625399e-06, + "observation_loss": 6.978614692343399e-06, + "chamfer": 5.6946114455058705e-06, + "track": 1.284003019463853e-06, + "acceleration": 1.0987771048576178e-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": 7.308359272428788e-06, + "observation_loss": 7.2214988904306665e-06, + "chamfer": 5.878772753931116e-06, + "track": 1.3427260228127125e-06, + "acceleration": 8.686032515470288e-08, + "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": 7.705448297201656e-06, + "observation_loss": 7.570525667688344e-06, + "chamfer": 6.135755029390566e-06, + "track": 1.43477052461094e-06, + "acceleration": 1.349223310853631e-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": 7.919911695353221e-06, + "observation_loss": 7.866793566790875e-06, + "chamfer": 6.347659564198693e-06, + "track": 1.519134343652695e-06, + "acceleration": 5.311819251119232e-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": 8.288786375487689e-06, + "observation_loss": 7.930639185360633e-06, + "chamfer": 6.400722668331582e-06, + "track": 1.5299161759685376e-06, + "acceleration": 3.5814676380141464e-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": 8.011537829588633e-06, + "observation_loss": 7.898716830823105e-06, + "chamfer": 6.39843892713543e-06, + "track": 1.5002780173745123e-06, + "acceleration": 1.1282084955155369e-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": 8.228058504755609e-06, + "observation_loss": 8.042939043662045e-06, + "chamfer": 6.506430054287193e-06, + "track": 1.5365092167485273e-06, + "acceleration": 1.8511904897877685e-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": 8.645526577311102e-06, + "observation_loss": 8.42209738038946e-06, + "chamfer": 6.773565928597236e-06, + "track": 1.6485319065395743e-06, + "acceleration": 2.2342881322856556e-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": 8.898566193238366e-06, + "observation_loss": 8.752156645641662e-06, + "chamfer": 6.999520792305702e-06, + "track": 1.752636194396473e-06, + "acceleration": 1.4640930601217406e-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": 8.986842658487149e-06, + "observation_loss": 8.889844139048364e-06, + "chamfer": 7.07708386471495e-06, + "track": 1.8127606153939269e-06, + "acceleration": 9.699832048681856e-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": 9.096703251998406e-06, + "observation_loss": 9.038873031386174e-06, + "chamfer": 7.1706676862959284e-06, + "track": 1.8682054587770835e-06, + "acceleration": 5.783058298902688e-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": 9.148921890300699e-06, + "observation_loss": 9.06396599020809e-06, + "chamfer": 7.183151410572464e-06, + "track": 1.8808141248882748e-06, + "acceleration": 8.495547376696777e-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": 9.114764907280914e-06, + "observation_loss": 9.033405149239115e-06, + "chamfer": 7.161052053561434e-06, + "track": 1.8723534367381944e-06, + "acceleration": 8.135963014410663e-08, + "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": 9.19009016797645e-06, + "observation_loss": 8.989759407995734e-06, + "chamfer": 7.127034223231021e-06, + "track": 1.862725184764713e-06, + "acceleration": 2.003305610287498e-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": 9.414840860699769e-06, + "observation_loss": 9.2849159045727e-06, + "chamfer": 7.322635610762518e-06, + "track": 1.962280066436506e-06, + "acceleration": 1.2992481401852274e-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": 9.931686690833885e-06, + "observation_loss": 9.850463356997352e-06, + "chamfer": 7.68534664530307e-06, + "track": 2.165116939067957e-06, + "acceleration": 8.122374595131987e-08, + "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": 1.0552631465543527e-05, + "observation_loss": 1.0296473192283884e-05, + "chamfer": 7.982162969710771e-06, + "track": 2.314310449946788e-06, + "acceleration": 2.5615852905502834e-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": 1.0241397831123322e-05, + "observation_loss": 1.0115989425685257e-05, + "chamfer": 7.866347004892305e-06, + "track": 2.2496426481666276e-06, + "acceleration": 1.2540803595584293e-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": 9.930616215569898e-06, + "observation_loss": 9.766995390236843e-06, + "chamfer": 7.649623512406833e-06, + "track": 2.1173716504563345e-06, + "acceleration": 1.6362083954390982e-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": 9.5553132268833e-06, + "observation_loss": 9.509516530670226e-06, + "chamfer": 7.481906322936993e-06, + "track": 2.0276106624805834e-06, + "acceleration": 4.579692358674947e-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": 9.314660928794183e-06, + "observation_loss": 9.258670615963638e-06, + "chamfer": 7.297798674699152e-06, + "track": 1.960872396011837e-06, + "acceleration": 5.599018848556625e-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": 9.305505955126137e-06, + "observation_loss": 9.240627150575165e-06, + "chamfer": 7.276930318766972e-06, + "track": 1.9636966044345172e-06, + "acceleration": 6.487855586101432e-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": 9.382914868183434e-06, + "observation_loss": 9.29647922021104e-06, + "chamfer": 7.308776275749551e-06, + "track": 1.987702944461489e-06, + "acceleration": 8.64352429630344e-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": 9.34342824621126e-06, + "observation_loss": 9.289838999393396e-06, + "chamfer": 7.299348908418324e-06, + "track": 1.9904900909750722e-06, + "acceleration": 5.3589285897714944e-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": 9.439740097150207e-06, + "observation_loss": 9.298893019149546e-06, + "chamfer": 7.281430953298695e-06, + "track": 2.0174618384771748e-06, + "acceleration": 1.4084687904869497e-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": 9.628229236113839e-06, + "observation_loss": 9.331900400866289e-06, + "chamfer": 7.301370715140365e-06, + "track": 2.0305296857259236e-06, + "acceleration": 2.963285226087464e-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": 1.003055240289541e-05, + "observation_loss": 9.404922820976935e-06, + "chamfer": 7.323913450818509e-06, + "track": 2.081009142784751e-06, + "acceleration": 6.256294113882177e-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": 1.032753243634943e-05, + "observation_loss": 9.49004606809467e-06, + "chamfer": 7.378824193438049e-06, + "track": 2.111222102030297e-06, + "acceleration": 8.374867093152716e-07, + "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": 9.913700523611624e-06, + "observation_loss": 9.518630577076692e-06, + "chamfer": 7.3953019636974204e-06, + "track": 2.1233283860055963e-06, + "acceleration": 3.9506994653493166e-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": 9.789538125914987e-06, + "observation_loss": 9.662731827120297e-06, + "chamfer": 7.497772003262071e-06, + "track": 2.164960051231901e-06, + "acceleration": 1.2680611405357922e-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": 9.922322533384431e-06, + "observation_loss": 9.831426723394543e-06, + "chamfer": 7.60274451749865e-06, + "track": 2.228682660643244e-06, + "acceleration": 9.089596630929009e-08, + "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": 1.014141525956802e-05, + "observation_loss": 1.0077130355057307e-05, + "chamfer": 7.753457794024143e-06, + "track": 2.323673015780514e-06, + "acceleration": 6.428471976960282e-08, + "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": 1.0168640983465593e-05, + "observation_loss": 1.0113864846061915e-05, + "chamfer": 7.771520358801354e-06, + "track": 2.3423440325132105e-06, + "acceleration": 5.4776119640109755e-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": 1.0271583050780464e-05, + "observation_loss": 1.0096422556671314e-05, + "chamfer": 7.743956302874722e-06, + "track": 2.3524667085439432e-06, + "acceleration": 1.7516082095880847e-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": 1.0151514288736507e-05, + "observation_loss": 1.0050639502878767e-05, + "chamfer": 7.670332706766203e-06, + "track": 2.380307023486239e-06, + "acceleration": 1.0087477875231343e-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": 1.0054549420601688e-05, + "observation_loss": 9.979042260965798e-06, + "chamfer": 7.596803698106669e-06, + "track": 2.382238562859129e-06, + "acceleration": 7.550702463277048e-08, + "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": 1.0066999493574258e-05, + "observation_loss": 9.842684448813088e-06, + "chamfer": 7.510368050134275e-06, + "track": 2.332316853426164e-06, + "acceleration": 2.2431490265262255e-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": 1.0210223081230652e-05, + "observation_loss": 9.65520757745253e-06, + "chamfer": 7.407435987261124e-06, + "track": 2.2477715901914053e-06, + "acceleration": 5.550155606215412e-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": 9.919158401316963e-06, + "observation_loss": 9.602747013559565e-06, + "chamfer": 7.3728961069718935e-06, + "track": 2.2298513613350224e-06, + "acceleration": 3.164110182751756e-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": 9.783116183825769e-06, + "observation_loss": 9.593357390258461e-06, + "chamfer": 7.375866971415235e-06, + "track": 2.2174908735905774e-06, + "acceleration": 1.8975887883243558e-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": 9.769806638360023e-06, + "observation_loss": 9.653935194364749e-06, + "chamfer": 7.423235729220323e-06, + "track": 2.23069923777075e-06, + "acceleration": 1.158712947813001e-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": 9.82606434263289e-06, + "observation_loss": 9.765994036570191e-06, + "chamfer": 7.5007365012425e-06, + "track": 2.2652575353276916e-06, + "acceleration": 6.007041264410873e-08, + "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": 9.940696145349648e-06, + "observation_loss": 9.905980732582975e-06, + "chamfer": 7.5869202191825025e-06, + "track": 2.319060740774148e-06, + "acceleration": 3.471555487521982e-08, + "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": 1.0080898391606752e-05, + "observation_loss": 1.0020165973401163e-05, + "chamfer": 7.628522780578351e-06, + "track": 2.3916429654491367e-06, + "acceleration": 6.073266689554657e-08, + "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": 1.0314139217371121e-05, + "observation_loss": 1.0193136404268444e-05, + "chamfer": 7.70941096561728e-06, + "track": 2.483725438651163e-06, + "acceleration": 1.2100292678951519e-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": 1.0763691534521058e-05, + "observation_loss": 1.0564938747847918e-05, + "chamfer": 7.898195690358989e-06, + "track": 2.666742830115254e-06, + "acceleration": 1.9875282930570393e-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": 1.1186171832378022e-05, + "observation_loss": 1.0951484000543132e-05, + "chamfer": 8.09610264695948e-06, + "track": 2.855381580957328e-06, + "acceleration": 2.3468821552796726e-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": 1.1468706361483783e-05, + "observation_loss": 1.1299867765046656e-05, + "chamfer": 8.289923243864905e-06, + "track": 3.0099440664344e-06, + "acceleration": 1.6883903697362257e-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": 1.1587343578867149e-05, + "observation_loss": 1.1481200999696739e-05, + "chamfer": 8.374772733077407e-06, + "track": 3.1064278118719812e-06, + "acceleration": 1.0614231626959736e-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": 1.1945676305913366e-05, + "observation_loss": 1.1737026397895534e-05, + "chamfer": 8.533614163752645e-06, + "track": 3.2034124615165638e-06, + "acceleration": 2.0864993643954222e-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": 1.229771260113921e-05, + "observation_loss": 1.2075652193743736e-05, + "chamfer": 8.728995453566313e-06, + "track": 3.346656967551098e-06, + "acceleration": 2.2206035055205575e-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": 1.2397921636875253e-05, + "observation_loss": 1.2317377695580944e-05, + "chamfer": 8.859020454110578e-06, + "track": 3.4583570140966913e-06, + "acceleration": 8.054437472537757e-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": 1.2505634913395625e-05, + "observation_loss": 1.2424987289705314e-05, + "chamfer": 8.908438758226112e-06, + "track": 3.516548531479202e-06, + "acceleration": 8.064748868719107e-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": 1.2558356502267998e-05, + "observation_loss": 1.2490413610066753e-05, + "chamfer": 8.94556342245778e-06, + "track": 3.5448499602352967e-06, + "acceleration": 6.794298457180048e-08, + "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": 1.2570822036650497e-05, + "observation_loss": 1.2515646631072741e-05, + "chamfer": 8.935906407714356e-06, + "track": 3.5797402233583853e-06, + "acceleration": 5.517559742429512e-08, + "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": 1.2587504897965118e-05, + "observation_loss": 1.25336828205036e-05, + "chamfer": 8.921513654058799e-06, + "track": 3.6121689390711254e-06, + "acceleration": 5.38219850909627e-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": 1.2646692994167097e-05, + "observation_loss": 1.2518788935267366e-05, + "chamfer": 8.92094431037549e-06, + "track": 3.597844624891877e-06, + "acceleration": 1.2790447101451718e-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": 1.2593279279826675e-05, + "observation_loss": 1.2479157703637611e-05, + "chamfer": 8.898740816221107e-06, + "track": 3.5804168874165043e-06, + "acceleration": 1.1412171119218328e-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": 1.2462774066079874e-05, + "observation_loss": 1.2451785551093053e-05, + "chamfer": 8.868443728715647e-06, + "track": 3.583341822377406e-06, + "acceleration": 1.098815882727422e-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": 1.2469799003156368e-05, + "observation_loss": 1.241665449924767e-05, + "chamfer": 8.835029802867211e-06, + "track": 3.5816249237541342e-06, + "acceleration": 5.314458917382581e-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": 1.2492335372371599e-05, + "observation_loss": 1.2379329746181611e-05, + "chamfer": 8.803065611573402e-06, + "track": 3.576264134608209e-06, + "acceleration": 1.1300540592174002e-07, + "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": 1.2393434190016706e-05, + "observation_loss": 1.227958819072228e-05, + "chamfer": 8.749876542424317e-06, + "track": 3.5297118756716372e-06, + "acceleration": 1.1384611298126401e-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": 1.2136366422055289e-05, + "observation_loss": 1.2086076822015457e-05, + "chamfer": 8.645050911582075e-06, + "track": 3.441025455686031e-06, + "acceleration": 5.028925897931913e-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": 9.714683211351863e-06, + "chamfer_mean": 6.722838428174782e-06, + "track_mean": 1.9587863796151814e-06, + "acceleration_mean": 1.0330584072533917e-06, + "observation_score": 8.681624774927362e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4289013759989757 + }, + "score_arrays_file": "pass_scores/pass_end_0117.npz", + "score_arrays_sha256": "b95ec60fdeb8ab0ecc9e88af6443408b06aef2d963fc3cabde6b5152d2750ad9" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0118.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0118.json new file mode 100644 index 0000000000000000000000000000000000000000..6a070a1845820e1f74e361601a8b7eda83d332ba --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0118.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11328, + "completed_passes": 118, + "snapshot": "pass_end_0118", + "candidate": true, + "snapshot_arrays_sha256": "68d70beb08db7f6ad4c0777ebb230c4d586054a1f3ae1f5a10387b8e8243fa36", + "score": 8.672610886624929e-06, + "score_result": { + "score": 8.672610886624929e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.973407845274778e-06, + 3.368590341779054e-06, + 3.836944415525068e-06, + 4.852575784752844e-06, + 5.7700999605003744e-06, + 6.234643478819635e-06, + 6.30306385573931e-06, + 6.091341674618889e-06, + 5.8690511650638655e-06, + 5.791453077108599e-06, + 5.948190846538637e-06, + 6.176556780701503e-06, + 6.407768978533568e-06, + 6.6251468524569646e-06, + 6.7509340624383185e-06, + 6.89537228026893e-06, + 6.7907426455349196e-06, + 6.504700650111772e-06, + 6.3146708271233365e-06, + 6.3029192460817285e-06, + 6.3244715420296416e-06, + 6.2154313127393834e-06, + 5.954115295025986e-06, + 5.836344826093409e-06, + 6.052472144801868e-06, + 6.45459067527554e-06, + 6.722652869939338e-06, + 6.8177587309037335e-06, + 6.7346445575822145e-06, + 6.584108177776216e-06, + 6.479584044427611e-06, + 6.540119102282915e-06, + 6.676914381387178e-06, + 6.962805855437182e-06, + 7.20632124284748e-06, + 7.555437150585931e-06, + 7.850904694350902e-06, + 7.914583875390235e-06, + 7.881169040047098e-06, + 8.023777809285093e-06, + 8.402303137700073e-06, + 8.732801688893232e-06, + 8.87013811734505e-06, + 9.018968739837874e-06, + 9.044808393809944e-06, + 9.014818715513684e-06, + 8.973116564447992e-06, + 9.269933798350394e-06, + 9.836594472290017e-06, + 1.0283798474119976e-05, + 1.010452615446411e-05, + 9.756613508216105e-06, + 9.499667612544727e-06, + 9.248973583453335e-06, + 9.230094292433932e-06, + 9.285753549193032e-06, + 9.280791346100159e-06, + 9.289688023272902e-06, + 9.323319318355061e-06, + 9.395889719598927e-06, + 9.482906534685753e-06, + 9.513167242403142e-06, + 9.659366696723737e-06, + 9.830668204813264e-06, + 1.0079883395519573e-05, + 1.0119886610482354e-05, + 1.0103763997904025e-05, + 1.0059098713099957e-05, + 9.989213140215725e-06, + 9.853118172031827e-06, + 9.666199730418157e-06, + 9.613631846150383e-06, + 9.602473255654331e-06, + 9.661367585067637e-06, + 9.77148192760069e-06, + 9.909980690281373e-06, + 1.0022282367572188e-05, + 1.0193743037234526e-05, + 1.0565104275883641e-05, + 1.0951722288154997e-05, + 1.1300883670628536e-05, + 1.1480424291221425e-05, + 1.1735603038687259e-05, + 1.2073332072759513e-05, + 1.2316343600105029e-05, + 1.2423505722836126e-05, + 1.2488714673963841e-05, + 1.2513508409028873e-05, + 1.253234404430259e-05, + 1.2516316928667948e-05, + 1.2476557458285242e-05, + 1.244872146344278e-05, + 1.2414088814693969e-05, + 1.2378075552987866e-05, + 1.2278484064154327e-05, + 1.2085700291208923e-05 + ] + ], + "episode_mean_losses": [ + 8.672610886624929e-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": 2.973407845274778e-06, + "observation_loss": 2.973407845274778e-06, + "chamfer": 2.521547003198066e-06, + "track": 4.5186072838987457e-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": 4.584759153658524e-05, + "observation_loss": 3.368590341779054e-06, + "chamfer": 2.8490105705714086e-06, + "track": 5.195797143642267e-07, + "acceleration": 4.247900142217986e-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": 2.796671469695866e-05, + "observation_loss": 3.836944415525068e-06, + "chamfer": 3.2340076359105296e-06, + "track": 6.029366659277002e-07, + "acceleration": 2.4129771190928295e-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": 1.3386583304964006e-05, + "observation_loss": 4.852575784752844e-06, + "chamfer": 4.023393557872623e-06, + "track": 8.291823405670584e-07, + "acceleration": 8.534007065463811e-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": 1.0142361134057865e-05, + "observation_loss": 5.7700999605003744e-06, + "chamfer": 4.686889951699413e-06, + "track": 1.083210008800961e-06, + "acceleration": 4.37226117355749e-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": 7.88714169175364e-06, + "observation_loss": 6.234643478819635e-06, + "chamfer": 4.989108219888294e-06, + "track": 1.245535486305016e-06, + "acceleration": 1.6524984403076814e-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": 8.024831913644448e-06, + "observation_loss": 6.30306385573931e-06, + "chamfer": 5.009343112760689e-06, + "track": 1.293720856665459e-06, + "acceleration": 1.7217679442182998e-06, + "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": 6.940291768842144e-06, + "observation_loss": 6.091341674618889e-06, + "chamfer": 4.849476226809202e-06, + "track": 1.2418653341228492e-06, + "acceleration": 8.489502647535119e-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": 6.596603725483874e-06, + "observation_loss": 5.8690511650638655e-06, + "chamfer": 4.693783466791501e-06, + "track": 1.175267811959202e-06, + "acceleration": 7.275526172634272e-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": 6.352912805596134e-06, + "observation_loss": 5.791453077108599e-06, + "chamfer": 4.661570528696757e-06, + "track": 1.129882321038167e-06, + "acceleration": 5.614595579572779e-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": 6.3242632677429356e-06, + "observation_loss": 5.948190846538637e-06, + "chamfer": 4.815378815692384e-06, + "track": 1.1328119171594153e-06, + "acceleration": 3.760725633128459e-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": 6.441312052629655e-06, + "observation_loss": 6.176556780701503e-06, + "chamfer": 5.011978373659076e-06, + "track": 1.1645786344161024e-06, + "acceleration": 2.6475515824131435e-07, + "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": 6.514563665405149e-06, + "observation_loss": 6.407768978533568e-06, + "chamfer": 5.216519184614299e-06, + "track": 1.1912496802324313e-06, + "acceleration": 1.0679449502504212e-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": 6.797438345529372e-06, + "observation_loss": 6.6251468524569646e-06, + "chamfer": 5.407503067544894e-06, + "track": 1.2176435575383948e-06, + "acceleration": 1.722912799095866e-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": 6.956283868930768e-06, + "observation_loss": 6.7509340624383185e-06, + "chamfer": 5.52080518900766e-06, + "track": 1.2301288734306581e-06, + "acceleration": 2.053496075404837e-07, + "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": 7.031524091871688e-06, + "observation_loss": 6.89537228026893e-06, + "chamfer": 5.644704287988134e-06, + "track": 1.2506682196544716e-06, + "acceleration": 1.3615182581361296e-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": 6.981132628425257e-06, + "observation_loss": 6.7907426455349196e-06, + "chamfer": 5.564838374993997e-06, + "track": 1.2259043842277606e-06, + "acceleration": 1.9039001131204714e-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": 6.744724032614613e-06, + "observation_loss": 6.504700650111772e-06, + "chamfer": 5.349719231162453e-06, + "track": 1.1549813052624813e-06, + "acceleration": 2.4002332565942197e-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": 6.447131454478949e-06, + "observation_loss": 6.3146708271233365e-06, + "chamfer": 5.210800736676902e-06, + "track": 1.103870090446435e-06, + "acceleration": 1.324606131447581e-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": 6.424084858736023e-06, + "observation_loss": 6.3029192460817285e-06, + "chamfer": 5.205360139370896e-06, + "track": 1.0975589930239948e-06, + "acceleration": 1.211656837085684e-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": 6.497300546470797e-06, + "observation_loss": 6.3244715420296416e-06, + "chamfer": 5.22066466146498e-06, + "track": 1.1038066531909863e-06, + "acceleration": 1.7282904707371927e-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": 6.373300038831076e-06, + "observation_loss": 6.2154313127393834e-06, + "chamfer": 5.141496330907103e-06, + "track": 1.0739349818322808e-06, + "acceleration": 1.5786886820023938e-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": 6.117932571214624e-06, + "observation_loss": 5.954115295025986e-06, + "chamfer": 4.941697625326924e-06, + "track": 1.012417556012224e-06, + "acceleration": 1.638173188212022e-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": 5.97348298470024e-06, + "observation_loss": 5.836344826093409e-06, + "chamfer": 4.842739144805819e-06, + "track": 9.936055676007527e-07, + "acceleration": 1.3713815860683098e-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": 6.189490704855416e-06, + "observation_loss": 6.052472144801868e-06, + "chamfer": 4.99362022310379e-06, + "track": 1.0588518080112408e-06, + "acceleration": 1.370184321558554e-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": 6.730678705935134e-06, + "observation_loss": 6.45459067527554e-06, + "chamfer": 5.282839993014932e-06, + "track": 1.1717506822606083e-06, + "acceleration": 2.760878885510465e-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": 7.01218550602789e-06, + "observation_loss": 6.722652869939338e-06, + "chamfer": 5.472601060318993e-06, + "track": 1.2500519233071827e-06, + "acceleration": 2.8953263608855195e-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": 7.021667443041224e-06, + "observation_loss": 6.8177587309037335e-06, + "chamfer": 5.5482373682025354e-06, + "track": 1.2695212490143604e-06, + "acceleration": 2.0390858423979807e-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": 7.218224254756933e-06, + "observation_loss": 6.7346445575822145e-06, + "chamfer": 5.4925549193285406e-06, + "track": 1.2420895245668362e-06, + "acceleration": 4.835798108615563e-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": 6.846701580798253e-06, + "observation_loss": 6.584108177776216e-06, + "chamfer": 5.383231837186031e-06, + "track": 1.2008764542770223e-06, + "acceleration": 2.625935735522944e-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": 6.5512967921677046e-06, + "observation_loss": 6.479584044427611e-06, + "chamfer": 5.30844772583805e-06, + "track": 1.1711365459632361e-06, + "acceleration": 7.171275484552098e-08, + "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": 6.59348279441474e-06, + "observation_loss": 6.540119102282915e-06, + "chamfer": 5.360725026548607e-06, + "track": 1.179394075734308e-06, + "acceleration": 5.336367081554272e-08, + "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": 6.740431672369596e-06, + "observation_loss": 6.676914381387178e-06, + "chamfer": 5.470975793286925e-06, + "track": 1.205938474413415e-06, + "acceleration": 6.351711334673382e-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": 7.072058451740304e-06, + "observation_loss": 6.962805855437182e-06, + "chamfer": 5.682106348103844e-06, + "track": 1.280699621020176e-06, + "acceleration": 1.092527668333787e-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": 7.292665941349696e-06, + "observation_loss": 7.20632124284748e-06, + "chamfer": 5.866910214535892e-06, + "track": 1.3394112556852633e-06, + "acceleration": 8.634465586965234e-08, + "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": 7.69161033531418e-06, + "observation_loss": 7.555437150585931e-06, + "chamfer": 6.1241980802151375e-06, + "track": 1.4312390703707933e-06, + "acceleration": 1.3617334104765177e-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": 7.903870937298052e-06, + "observation_loss": 7.850904694350902e-06, + "chamfer": 6.3356424107041676e-06, + "track": 1.5152623973335722e-06, + "acceleration": 5.296627847428681e-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": 8.274750143755227e-06, + "observation_loss": 7.914583875390235e-06, + "chamfer": 6.38885103398934e-06, + "track": 1.5257327277140575e-06, + "acceleration": 3.6016649573866744e-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": 7.996241947694216e-06, + "observation_loss": 7.881169040047098e-06, + "chamfer": 6.38562960375566e-06, + "track": 1.4955394362914376e-06, + "acceleration": 1.1507326291848585e-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": 8.208246072172187e-06, + "observation_loss": 8.023777809285093e-06, + "chamfer": 6.49254161544377e-06, + "track": 1.53123585278081e-06, + "acceleration": 1.844686607910262e-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": 8.627390343463048e-06, + "observation_loss": 8.402303137700073e-06, + "chamfer": 6.759324151062174e-06, + "track": 1.6429786455773865e-06, + "acceleration": 2.2508758945605223e-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": 8.881741450750269e-06, + "observation_loss": 8.732801688893232e-06, + "chamfer": 6.985675099713262e-06, + "track": 1.7471265891799703e-06, + "acceleration": 1.4893934974224976e-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": 8.96747314982349e-06, + "observation_loss": 8.87013811734505e-06, + "chamfer": 7.063089924486121e-06, + "track": 1.8070484202326043e-06, + "acceleration": 9.733464878536324e-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": 9.075946763914544e-06, + "observation_loss": 9.018968739837874e-06, + "chamfer": 7.156557785492623e-06, + "track": 1.8624108406584128e-06, + "acceleration": 5.697766880530253e-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": 9.128795682045165e-06, + "observation_loss": 9.044808393809944e-06, + "chamfer": 7.169438504206482e-06, + "track": 1.8753700032902998e-06, + "acceleration": 8.398692585842582e-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": 9.096544999920297e-06, + "observation_loss": 9.014818715513684e-06, + "chamfer": 7.147730684664566e-06, + "track": 1.8670880308491178e-06, + "acceleration": 8.172650467486164e-08, + "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": 9.17272063816199e-06, + "observation_loss": 8.973116564447992e-06, + "chamfer": 7.11505026629311e-06, + "track": 1.858066411841719e-06, + "acceleration": 1.9960414476827282e-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": 9.397924259246793e-06, + "observation_loss": 9.269933798350394e-06, + "chamfer": 7.3119472290272824e-06, + "track": 1.9579867966967868e-06, + "acceleration": 1.27990105625031e-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": 9.917423994920682e-06, + "observation_loss": 9.836594472290017e-06, + "chamfer": 7.675564120290801e-06, + "track": 2.1610301246255403e-06, + "acceleration": 8.082955105237488e-08, + "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": 1.0539904906181619e-05, + "observation_loss": 1.0283798474119976e-05, + "chamfer": 7.973391802806873e-06, + "track": 2.310406443939428e-06, + "acceleration": 2.56106403639933e-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": 1.0232068234472536e-05, + "observation_loss": 1.010452615446411e-05, + "chamfer": 7.85833708505379e-06, + "track": 2.2461890694103204e-06, + "acceleration": 1.2754203737586067e-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": 9.921596756612416e-06, + "observation_loss": 9.756613508216105e-06, + "chamfer": 7.642339369340334e-06, + "track": 2.1142743662494468e-06, + "acceleration": 1.6498297839007137e-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": 9.545462489768397e-06, + "observation_loss": 9.499667612544727e-06, + "chamfer": 7.475129677914083e-06, + "track": 2.024537707256968e-06, + "acceleration": 4.579452550501628e-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": 9.305547791882418e-06, + "observation_loss": 9.248973583453335e-06, + "chamfer": 7.291113888641121e-06, + "track": 1.957859694812214e-06, + "acceleration": 5.65742972469252e-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": 9.295487870986108e-06, + "observation_loss": 9.230094292433932e-06, + "chamfer": 7.26978350940044e-06, + "track": 1.960310783033492e-06, + "acceleration": 6.539323038623479e-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": 9.371166015625931e-06, + "observation_loss": 9.285753549193032e-06, + "chamfer": 7.301471669052262e-06, + "track": 1.9842821075144457e-06, + "acceleration": 8.541236695691623e-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": 9.333380148746073e-06, + "observation_loss": 9.280791346100159e-06, + "chamfer": 7.29330895410385e-06, + "track": 1.98748284674366e-06, + "acceleration": 5.258837987298648e-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": 9.431555554328952e-06, + "observation_loss": 9.289688023272902e-06, + "chamfer": 7.275296866282588e-06, + "track": 2.014391611737665e-06, + "acceleration": 1.4186754526690493e-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": 9.619971933716442e-06, + "observation_loss": 9.323319318355061e-06, + "chamfer": 7.295862360479077e-06, + "track": 2.027456503128633e-06, + "acceleration": 2.9665264378309075e-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": 1.0022841706813779e-05, + "observation_loss": 9.395889719598927e-06, + "chamfer": 7.3181754487450235e-06, + "track": 2.0777138161065523e-06, + "acceleration": 6.269518735280144e-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": 1.0321426998416428e-05, + "observation_loss": 9.482906534685753e-06, + "chamfer": 7.374529559456278e-06, + "track": 2.1083765204821248e-06, + "acceleration": 8.385202363569988e-07, + "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": 9.908764695865102e-06, + "observation_loss": 9.513167242403142e-06, + "chamfer": 7.392176939902129e-06, + "track": 2.1209898477536626e-06, + "acceleration": 3.9559790820931084e-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": 9.787270755623467e-06, + "observation_loss": 9.659366696723737e-06, + "chamfer": 7.496041689591948e-06, + "track": 2.163325007131789e-06, + "acceleration": 1.279043004842606e-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": 9.922052413458005e-06, + "observation_loss": 9.830668204813264e-06, + "chamfer": 7.602594905620208e-06, + "track": 2.228073753940407e-06, + "acceleration": 9.138457812696288e-08, + "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": 1.014367171592312e-05, + "observation_loss": 1.0079883395519573e-05, + "chamfer": 7.755644219287205e-06, + "track": 2.324239403606043e-06, + "acceleration": 6.378795802675086e-08, + "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": 1.017379963741405e-05, + "observation_loss": 1.0119886610482354e-05, + "chamfer": 7.775840458634775e-06, + "track": 2.3440461518475786e-06, + "acceleration": 5.391332535964466e-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": 1.0279482012265362e-05, + "observation_loss": 1.0103763997904025e-05, + "chamfer": 7.749157703074161e-06, + "track": 2.354606294829864e-06, + "acceleration": 1.7571767330082366e-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": 1.0160004421777558e-05, + "observation_loss": 1.0059098713099957e-05, + "chamfer": 7.676247150811832e-06, + "track": 2.3828513349144487e-06, + "acceleration": 1.0090528945738697e-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": 1.0064940397569444e-05, + "observation_loss": 9.989213140215725e-06, + "chamfer": 7.603840913361637e-06, + "track": 2.3853724542277632e-06, + "acceleration": 7.572754157081363e-08, + "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": 1.0079349522129633e-05, + "observation_loss": 9.853118172031827e-06, + "chamfer": 7.517581252614036e-06, + "track": 2.335537374165142e-06, + "acceleration": 2.262312932543864e-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": 1.022451942844782e-05, + "observation_loss": 9.666199730418157e-06, + "chamfer": 7.4151198532490525e-06, + "track": 2.2510801045427797e-06, + "acceleration": 5.5831986855992e-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": 9.931618478731252e-06, + "observation_loss": 9.613631846150383e-06, + "chamfer": 7.38030712454929e-06, + "track": 2.233324721601093e-06, + "acceleration": 3.1798629152035573e-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": 9.792108357942197e-06, + "observation_loss": 9.602473255654331e-06, + "chamfer": 7.381758223345969e-06, + "track": 2.2207150323083624e-06, + "acceleration": 1.8963481807077187e-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": 9.773291822057217e-06, + "observation_loss": 9.661367585067637e-06, + "chamfer": 7.42792781238677e-06, + "track": 2.2334397726808675e-06, + "acceleration": 1.1192466331522155e-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": 9.831313946051523e-06, + "observation_loss": 9.77148192760069e-06, + "chamfer": 7.504118912038393e-06, + "track": 2.2673627881886205e-06, + "acceleration": 5.983208950510743e-08, + "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": 9.944722478394397e-06, + "observation_loss": 9.909980690281373e-06, + "chamfer": 7.589552296849433e-06, + "track": 2.3204281660582637e-06, + "acceleration": 3.4741493237788745e-08, + "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": 1.008503204502631e-05, + "observation_loss": 1.0022282367572188e-05, + "chamfer": 7.629839274159167e-06, + "track": 2.3924426386656705e-06, + "acceleration": 6.274996877664307e-08, + "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": 1.0316804946342018e-05, + "observation_loss": 1.0193743037234526e-05, + "chamfer": 7.709967576374765e-06, + "track": 2.483775233486085e-06, + "acceleration": 1.230621222703121e-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": 1.0762792953755707e-05, + "observation_loss": 1.0565104275883641e-05, + "chamfer": 7.898302101239096e-06, + "track": 2.6668021746445447e-06, + "acceleration": 1.9768904735428805e-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": 1.1181930858583655e-05, + "observation_loss": 1.0951722288154997e-05, + "chamfer": 8.096340025076643e-06, + "track": 2.8553824904520297e-06, + "acceleration": 2.302085988503677e-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": 1.1471325706224889e-05, + "observation_loss": 1.1300883670628536e-05, + "chamfer": 8.290549885714427e-06, + "track": 3.0103335575404344e-06, + "acceleration": 1.7044227718088223e-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": 1.1587128028622828e-05, + "observation_loss": 1.1480424291221425e-05, + "chamfer": 8.374272510991432e-06, + "track": 3.1061520076036686e-06, + "acceleration": 1.067036521362752e-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": 1.1946562153752893e-05, + "observation_loss": 1.1735603038687259e-05, + "chamfer": 8.532905667379964e-06, + "track": 3.202696916559944e-06, + "acceleration": 2.109592429633267e-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": 1.2295669876039028e-05, + "observation_loss": 1.2073332072759513e-05, + "chamfer": 8.727937711228151e-06, + "track": 3.3453945889050374e-06, + "acceleration": 2.2233739116472861e-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": 1.2397459613566753e-05, + "observation_loss": 1.2316343600105029e-05, + "chamfer": 8.859140507411212e-06, + "track": 3.4572033200674923e-06, + "acceleration": 8.111567950663812e-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": 1.2504126061685383e-05, + "observation_loss": 1.2423505722836126e-05, + "chamfer": 8.908208656066563e-06, + "track": 3.5152970667695627e-06, + "acceleration": 8.062042411438597e-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": 1.2556863111967687e-05, + "observation_loss": 1.2488714673963841e-05, + "chamfer": 8.945334229792934e-06, + "track": 3.5433802167972317e-06, + "acceleration": 6.814836694957194e-08, + "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": 1.256862287846161e-05, + "observation_loss": 1.2513508409028873e-05, + "chamfer": 8.935266123444308e-06, + "track": 3.57824205821089e-06, + "acceleration": 5.511408218694669e-08, + "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": 1.2584952855831943e-05, + "observation_loss": 1.253234404430259e-05, + "chamfer": 8.921371772885323e-06, + "track": 3.6109727261646185e-06, + "acceleration": 5.260883995106269e-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": 1.2643099580600392e-05, + "observation_loss": 1.2516316928667948e-05, + "chamfer": 8.920043910620734e-06, + "track": 3.596272790673538e-06, + "acceleration": 1.2678228245022183e-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": 1.2591950508067384e-05, + "observation_loss": 1.2476557458285242e-05, + "chamfer": 8.897987754608039e-06, + "track": 3.578569476303528e-06, + "acceleration": 1.1539279398675717e-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": 1.2459630852390546e-05, + "observation_loss": 1.244872146344278e-05, + "chamfer": 8.867251381161623e-06, + "track": 3.5814700822811574e-06, + "acceleration": 1.0909216641152852e-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": 1.2466889529605396e-05, + "observation_loss": 1.2414088814693969e-05, + "chamfer": 8.833975698507857e-06, + "track": 3.5801133435597876e-06, + "acceleration": 5.2800807281983e-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": 1.249087927135406e-05, + "observation_loss": 1.2378075552987866e-05, + "chamfer": 8.802941010799259e-06, + "track": 3.575134542188607e-06, + "acceleration": 1.1280351230880115e-07, + "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": 1.2391313248372171e-05, + "observation_loss": 1.2278484064154327e-05, + "chamfer": 8.749721018830314e-06, + "track": 3.5287630453240126e-06, + "acceleration": 1.1282923395583566e-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": 1.2134602911828551e-05, + "observation_loss": 1.2085700291208923e-05, + "chamfer": 8.645381058158819e-06, + "track": 3.4403194604237797e-06, + "acceleration": 4.890276272817573e-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": 9.705702467499577e-06, + "chamfer_mean": 6.716345978929894e-06, + "track_mean": 1.956264896444774e-06, + "acceleration_mean": 1.0330915620933763e-06, + "observation_score": 8.672610886624929e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4160149560011632 + }, + "score_arrays_file": "pass_scores/pass_end_0118.npz", + "score_arrays_sha256": "4ae1a95fb436d9697e9d920bc8f5fc9ffd8c688965d55f557614d42069952238" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0119.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0119.json new file mode 100644 index 0000000000000000000000000000000000000000..6bde9a91f423b98759e51fd1e4a33a5704ce267f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0119.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11424, + "completed_passes": 119, + "snapshot": "pass_end_0119", + "candidate": true, + "snapshot_arrays_sha256": "16761d05f36607dadfabd3cb907493a118e72da36e5cefa3f942e2990d571287", + "score": 8.664253707972117e-06, + "score_result": { + "score": 8.664253707972117e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9722707495238865e-06, + 3.3658964184724027e-06, + 3.830225068668369e-06, + 4.8391475502285175e-06, + 5.75501053390326e-06, + 6.216725068952655e-06, + 6.285002655204153e-06, + 6.084389497118536e-06, + 5.8704808907350525e-06, + 5.792046067654155e-06, + 5.940535629633814e-06, + 6.167233550513629e-06, + 6.393982403096743e-06, + 6.608371222682763e-06, + 6.733759619237389e-06, + 6.875709914311301e-06, + 6.7712971940636635e-06, + 6.485941412393004e-06, + 6.296013452811167e-06, + 6.285010385909118e-06, + 6.305976057774387e-06, + 6.1964537962921895e-06, + 5.935720764682628e-06, + 5.8173222896584775e-06, + 6.030790245858952e-06, + 6.431855581467971e-06, + 6.702359314658679e-06, + 6.798975846322719e-06, + 6.71748284730711e-06, + 6.568370736204088e-06, + 6.464272701123264e-06, + 6.526513971039094e-06, + 6.663588465016801e-06, + 6.94916434440529e-06, + 7.19345052857534e-06, + 7.541398190369364e-06, + 7.836425538698677e-06, + 7.899646334408317e-06, + 7.86559030530043e-06, + 8.007461474335287e-06, + 8.386468834942207e-06, + 8.718147000763565e-06, + 8.855591659084894e-06, + 9.00442319107242e-06, + 9.031190529640298e-06, + 9.002329534268938e-06, + 8.961858839029446e-06, + 9.261710147256963e-06, + 9.831905117607675e-06, + 1.028001952363411e-05, + 1.0099655810336117e-05, + 9.75051625573542e-06, + 9.492953722656239e-06, + 9.240786312147975e-06, + 9.220110769092571e-06, + 9.274919648305513e-06, + 9.270112059311941e-06, + 9.278147445002105e-06, + 9.31278191274032e-06, + 9.385178600496147e-06, + 9.472934834775515e-06, + 9.505370144324843e-06, + 9.655742360337172e-06, + 9.830331691773608e-06, + 1.0084450877911877e-05, + 1.0128284884558525e-05, + 1.0114370525116101e-05, + 1.007139690045733e-05, + 1.0002445378631819e-05, + 9.866194886853918e-06, + 9.677320122136734e-06, + 9.622635843697935e-06, + 9.609388143871911e-06, + 9.664681783760898e-06, + 9.77240597421769e-06, + 9.908671927405521e-06, + 1.001945111056557e-05, + 1.0189750355493743e-05, + 1.0560042028373573e-05, + 1.0946261681965552e-05, + 1.1296713637420908e-05, + 1.1475891369627789e-05, + 1.1730420737876557e-05, + 1.2067546776961535e-05, + 1.2311926184338517e-05, + 1.2419053746270947e-05, + 1.248409171239473e-05, + 1.2508190593507607e-05, + 1.2527420039987192e-05, + 1.2511035492934752e-05, + 1.2471081390685868e-05, + 1.2443551895557903e-05, + 1.240882647834951e-05, + 1.2373820936772972e-05, + 1.2273943866603076e-05, + 1.2082034118066076e-05 + ] + ], + "episode_mean_losses": [ + 8.664253707972117e-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": 2.9722707495238865e-06, + "observation_loss": 2.9722707495238865e-06, + "chamfer": 2.52060272032395e-06, + "track": 4.516680860433553e-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": 4.576239734888077e-05, + "observation_loss": 3.3658964184724027e-06, + "chamfer": 2.8467718493629945e-06, + "track": 5.191245122659893e-07, + "acceleration": 4.239649933879264e-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": 2.7910427888855338e-05, + "observation_loss": 3.830225068668369e-06, + "chamfer": 3.228589548598393e-06, + "track": 6.016352926963009e-07, + "acceleration": 2.4080201910692267e-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": 1.3344396393222269e-05, + "observation_loss": 4.8391475502285175e-06, + "chamfer": 4.013281341030961e-06, + "track": 8.25866436571232e-07, + "acceleration": 8.505248842993751e-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": 1.0125786502612755e-05, + "observation_loss": 5.75501053390326e-06, + "chamfer": 4.676806838688208e-06, + "track": 1.0782039225887274e-06, + "acceleration": 4.370776423456846e-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": 7.874478797020856e-06, + "observation_loss": 6.216725068952655e-06, + "chamfer": 4.977649496140657e-06, + "track": 1.2390754591251607e-06, + "acceleration": 1.6577535006945254e-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": 7.989491678017657e-06, + "observation_loss": 6.285002655204153e-06, + "chamfer": 4.997807991458103e-06, + "track": 1.287194550059212e-06, + "acceleration": 1.7044891365003423e-06, + "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": 6.9115794758545235e-06, + "observation_loss": 6.084389497118536e-06, + "chamfer": 4.845046078116866e-06, + "track": 1.2393434190016706e-06, + "acceleration": 8.271898082057305e-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": 6.6093380155507475e-06, + "observation_loss": 5.8704808907350525e-06, + "chamfer": 4.6946879592724144e-06, + "track": 1.1757928177758004e-06, + "acceleration": 7.38857124815695e-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": 6.399809990398353e-06, + "observation_loss": 5.792046067654155e-06, + "chamfer": 4.661758339352673e-06, + "track": 1.1302877283014823e-06, + "acceleration": 6.0776380905736e-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": 6.361489795381203e-06, + "observation_loss": 5.940535629633814e-06, + "chamfer": 4.809759957424831e-06, + "track": 1.130775899582659e-06, + "acceleration": 4.2095413732567977e-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": 6.450212822528556e-06, + "observation_loss": 6.167233550513629e-06, + "chamfer": 5.005589173379121e-06, + "track": 1.1616444908213452e-06, + "acceleration": 2.8297930043663655e-07, + "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": 6.505993951577693e-06, + "observation_loss": 6.393982403096743e-06, + "chamfer": 5.207021786191035e-06, + "track": 1.1869603895320324e-06, + "acceleration": 1.1201140637240314e-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": 6.805087195971282e-06, + "observation_loss": 6.608371222682763e-06, + "chamfer": 5.395881998992991e-06, + "track": 1.2124892236897722e-06, + "acceleration": 1.967160585536476e-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": 6.959369784453884e-06, + "observation_loss": 6.733759619237389e-06, + "chamfer": 5.508758022187976e-06, + "track": 1.2250015970494132e-06, + "acceleration": 2.2561013679478492e-07, + "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": 7.01260069035925e-06, + "observation_loss": 6.875709914311301e-06, + "chamfer": 5.630594841932179e-06, + "track": 1.2451150723791216e-06, + "acceleration": 1.3689056288512802e-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": 6.963488885958213e-06, + "observation_loss": 6.7712971940636635e-06, + "chamfer": 5.550699370360235e-06, + "track": 1.2205978237034287e-06, + "acceleration": 1.9219174873796874e-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": 6.726908395648934e-06, + "observation_loss": 6.485941412393004e-06, + "chamfer": 5.335676178219728e-06, + "track": 1.150265461546951e-06, + "acceleration": 2.4096715378618683e-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": 6.429981112887617e-06, + "observation_loss": 6.296013452811167e-06, + "chamfer": 5.196563051867997e-06, + "track": 1.099450173569494e-06, + "acceleration": 1.3396767428730527e-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": 6.407202363334363e-06, + "observation_loss": 6.285010385909118e-06, + "chamfer": 5.191775471757865e-06, + "track": 1.093235027838091e-06, + "acceleration": 1.2219216216635687e-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": 6.480475349235348e-06, + "observation_loss": 6.305976057774387e-06, + "chamfer": 5.206553851166973e-06, + "track": 1.0994224339810899e-06, + "acceleration": 1.7449916356326867e-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": 6.356703579513123e-06, + "observation_loss": 6.1964537962921895e-06, + "chamfer": 5.126822998136049e-06, + "track": 1.0696310255298158e-06, + "acceleration": 1.6024957005811302e-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": 6.100917744333856e-06, + "observation_loss": 5.935720764682628e-06, + "chamfer": 4.927354439132614e-06, + "track": 1.0083665529236896e-06, + "acceleration": 1.6519692280780873e-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": 5.952925675956067e-06, + "observation_loss": 5.8173222896584775e-06, + "chamfer": 4.827831617149059e-06, + "track": 9.894907861962565e-07, + "acceleration": 1.356034147192986e-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": 6.166309049149277e-06, + "observation_loss": 6.030790245858952e-06, + "chamfer": 4.976709078619024e-06, + "track": 1.0540809398662532e-06, + "acceleration": 1.3551866118177713e-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": 6.7100677370035555e-06, + "observation_loss": 6.431855581467971e-06, + "chamfer": 5.265487288852455e-06, + "track": 1.1663682926155161e-06, + "acceleration": 2.7821229764413147e-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": 6.993597253313055e-06, + "observation_loss": 6.702359314658679e-06, + "chamfer": 5.457359293359332e-06, + "track": 1.245000134986185e-06, + "acceleration": 2.9123779654582904e-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": 7.005402949289419e-06, + "observation_loss": 6.798975846322719e-06, + "chamfer": 5.533851890504593e-06, + "track": 1.2651238421312883e-06, + "acceleration": 2.0642698927986203e-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": 7.200364962045569e-06, + "observation_loss": 6.71748284730711e-06, + "chamfer": 5.479318133438937e-06, + "track": 1.2381646001813351e-06, + "acceleration": 4.828822852687153e-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": 6.826675416959915e-06, + "observation_loss": 6.568370736204088e-06, + "chamfer": 5.370927738113096e-06, + "track": 1.1974431117778295e-06, + "acceleration": 2.5830465233411815e-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": 6.535445663757855e-06, + "observation_loss": 6.464272701123264e-06, + "chamfer": 5.296459676173981e-06, + "track": 1.1678130249492824e-06, + "acceleration": 7.117306921600175e-08, + "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": 6.579023192898603e-06, + "observation_loss": 6.526513971039094e-06, + "chamfer": 5.350058927433565e-06, + "track": 1.1764550436055288e-06, + "acceleration": 5.2509395942479387e-08, + "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": 6.725669209117768e-06, + "observation_loss": 6.663588465016801e-06, + "chamfer": 5.460427928483114e-06, + "track": 1.2031603091600118e-06, + "acceleration": 6.20807654172495e-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": 7.057842594804242e-06, + "observation_loss": 6.94916434440529e-06, + "chamfer": 5.671307917509694e-06, + "track": 1.2778563132087584e-06, + "acceleration": 1.0867842803463645e-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": 7.279462352016708e-06, + "observation_loss": 7.19345052857534e-06, + "chamfer": 5.8568348322296515e-06, + "track": 1.336615582658851e-06, + "acceleration": 8.601189449564117e-08, + "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": 7.678914698772132e-06, + "observation_loss": 7.541398190369364e-06, + "chamfer": 6.113412837294163e-06, + "track": 1.4279855804488761e-06, + "acceleration": 1.375166789330251e-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": 7.889612788858358e-06, + "observation_loss": 7.836425538698677e-06, + "chamfer": 6.32464525551768e-06, + "track": 1.5117803968678345e-06, + "acceleration": 5.318744555893318e-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": 8.261211405624636e-06, + "observation_loss": 7.899646334408317e-06, + "chamfer": 6.377759291353868e-06, + "track": 1.521886815680773e-06, + "acceleration": 3.6156527016828477e-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": 7.984072908584494e-06, + "observation_loss": 7.86559030530043e-06, + "chamfer": 6.374140411935514e-06, + "track": 1.4914503481122665e-06, + "acceleration": 1.184830367151335e-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": 8.192514542315621e-06, + "observation_loss": 8.007461474335287e-06, + "chamfer": 6.480627689597895e-06, + "track": 1.5268337847373914e-06, + "acceleration": 1.850534800951209e-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": 8.613707905169576e-06, + "observation_loss": 8.386468834942207e-06, + "chamfer": 6.747921361238696e-06, + "track": 1.6385472463298356e-06, + "acceleration": 2.2723922654677153e-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": 8.86839370650705e-06, + "observation_loss": 8.718147000763565e-06, + "chamfer": 6.975126325414749e-06, + "track": 1.7430207890356542e-06, + "acceleration": 1.5024636468297103e-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": 8.952354619395919e-06, + "observation_loss": 8.855591659084894e-06, + "chamfer": 7.052712589938892e-06, + "track": 1.8028787280854885e-06, + "acceleration": 9.676276846448673e-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": 9.060870979737956e-06, + "observation_loss": 9.00442319107242e-06, + "chamfer": 7.146169537008973e-06, + "track": 1.8582536540634464e-06, + "acceleration": 5.6447511553869845e-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": 9.11550614546286e-06, + "observation_loss": 9.031190529640298e-06, + "chamfer": 7.159607321227668e-06, + "track": 1.8715830947257928e-06, + "acceleration": 8.4315395554313e-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": 9.084603334486019e-06, + "observation_loss": 9.002329534268938e-06, + "chamfer": 7.138730325095821e-06, + "track": 1.8635993228599546e-06, + "acceleration": 8.22737931116535e-08, + "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": 9.16214776225388e-06, + "observation_loss": 8.961858839029446e-06, + "chamfer": 7.106869816198014e-06, + "track": 1.854988795457757e-06, + "acceleration": 2.0028920744152856e-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": 9.389836122863926e-06, + "observation_loss": 9.261710147256963e-06, + "chamfer": 7.305945018742932e-06, + "track": 1.9557653558877064e-06, + "acceleration": 1.281264161434592e-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": 9.912942914525047e-06, + "observation_loss": 9.831905117607675e-06, + "chamfer": 7.672046194784343e-06, + "track": 2.1598584680759814e-06, + "acceleration": 8.103818061044876e-08, + "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": 1.0537579328229185e-05, + "observation_loss": 1.028001952363411e-05, + "chamfer": 7.970559636305552e-06, + "track": 2.3094596599548822e-06, + "acceleration": 2.575597761733661e-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": 1.0229914551018737e-05, + "observation_loss": 1.0099655810336117e-05, + "chamfer": 7.854708201193716e-06, + "track": 2.2449476091424003e-06, + "acceleration": 1.3025866962834698e-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": 9.917225725075696e-06, + "observation_loss": 9.75051625573542e-06, + "chamfer": 7.637801900273189e-06, + "track": 2.11271390071488e-06, + "acceleration": 1.6670924196660053e-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": 9.538895938021597e-06, + "observation_loss": 9.492953722656239e-06, + "chamfer": 7.470431683032075e-06, + "track": 2.022522039624164e-06, + "acceleration": 4.594235747390485e-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": 9.297020369558595e-06, + "observation_loss": 9.240786312147975e-06, + "chamfer": 7.285412266355706e-06, + "track": 1.9553735910449177e-06, + "acceleration": 5.6234139123034765e-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": 9.285262422054075e-06, + "observation_loss": 9.220110769092571e-06, + "chamfer": 7.262958661158336e-06, + "track": 1.9571521079342347e-06, + "acceleration": 6.515157480180278e-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": 9.360298463434447e-06, + "observation_loss": 9.274919648305513e-06, + "chamfer": 7.294107945199357e-06, + "track": 1.9808121578535065e-06, + "acceleration": 8.537895013205343e-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": 9.322304322267883e-06, + "observation_loss": 9.270112059311941e-06, + "chamfer": 7.2861566877691075e-06, + "track": 1.9839558262901846e-06, + "acceleration": 5.219229137765069e-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": 9.420428796147462e-06, + "observation_loss": 9.278147445002105e-06, + "chamfer": 7.267461569426814e-06, + "track": 2.0106861029489664e-06, + "acceleration": 1.422813653562116e-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": 9.609543667465914e-06, + "observation_loss": 9.31278191274032e-06, + "chamfer": 7.288888809853233e-06, + "track": 2.0238931028870866e-06, + "acceleration": 2.967621526295261e-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": 1.001476812234614e-05, + "observation_loss": 9.385178600496147e-06, + "chamfer": 7.311229637707584e-06, + "track": 2.0739491901622387e-06, + "acceleration": 6.295891807894805e-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": 1.0314674000255764e-05, + "observation_loss": 9.472934834775515e-06, + "chamfer": 7.368276328634238e-06, + "track": 2.1046582787676016e-06, + "acceleration": 8.417389381065732e-07, + "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": 9.903065802063793e-06, + "observation_loss": 9.505370144324843e-06, + "chamfer": 7.387525783997262e-06, + "track": 2.1178445877012564e-06, + "acceleration": 3.976954872086935e-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": 9.784115718503017e-06, + "observation_loss": 9.655742360337172e-06, + "chamfer": 7.494292276533088e-06, + "track": 2.1614498564304085e-06, + "acceleration": 1.28373670804649e-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": 9.921375749399886e-06, + "observation_loss": 9.830331691773608e-06, + "chamfer": 7.602524419780821e-06, + "track": 2.2278070446191123e-06, + "acceleration": 9.104417131311493e-08, + "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": 1.0147588909603655e-05, + "observation_loss": 1.0084450877911877e-05, + "chamfer": 7.758954780001659e-06, + "track": 2.3254963252838934e-06, + "acceleration": 6.313761957699171e-08, + "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": 1.0181015568377916e-05, + "observation_loss": 1.0128284884558525e-05, + "chamfer": 7.781682143104263e-06, + "track": 2.3466027414542623e-06, + "acceleration": 5.273076197909177e-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": 1.0289934834872838e-05, + "observation_loss": 1.0114370525116101e-05, + "chamfer": 7.756642844469752e-06, + "track": 2.357727908020024e-06, + "acceleration": 1.7556465081725037e-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": 1.017246086121304e-05, + "observation_loss": 1.007139690045733e-05, + "chamfer": 7.684800948482007e-06, + "track": 2.3865954972279724e-06, + "acceleration": 1.0106368364404261e-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": 1.0078274499392137e-05, + "observation_loss": 1.0002445378631819e-05, + "chamfer": 7.613145044160774e-06, + "track": 2.3893001070973696e-06, + "acceleration": 7.582913497117261e-08, + "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": 1.009367133519845e-05, + "observation_loss": 9.866194886853918e-06, + "chamfer": 7.526730769313872e-06, + "track": 2.339464344913722e-06, + "acceleration": 2.2747670413991727e-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": 1.023817003442673e-05, + "observation_loss": 9.677320122136734e-06, + "chamfer": 7.42292604627437e-06, + "track": 2.254393621115014e-06, + "acceleration": 5.608495712294825e-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": 9.942154974851292e-06, + "observation_loss": 9.622635843697935e-06, + "chamfer": 7.386337074422045e-06, + "track": 2.2362987692758907e-06, + "acceleration": 3.1951910273164685e-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": 9.799323379411362e-06, + "observation_loss": 9.609388143871911e-06, + "chamfer": 7.386094239336671e-06, + "track": 2.223293677161564e-06, + "acceleration": 1.8993544870227197e-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": 9.7741549325292e-06, + "observation_loss": 9.664681783760898e-06, + "chamfer": 7.429794550262159e-06, + "track": 2.234886778751388e-06, + "acceleration": 1.0947344719625107e-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": 9.832674550125375e-06, + "observation_loss": 9.77240597421769e-06, + "chamfer": 7.5044508776045404e-06, + "track": 2.2679548692394746e-06, + "acceleration": 6.026883170306974e-08, + "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": 9.943758414010517e-06, + "observation_loss": 9.908671927405521e-06, + "chamfer": 7.588583684992045e-06, + "track": 2.3200884697871516e-06, + "acceleration": 3.508625923132058e-08, + "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": 1.008357048704056e-05, + "observation_loss": 1.001945111056557e-05, + "chamfer": 7.627878858329495e-06, + "track": 2.3915720248623984e-06, + "acceleration": 6.411912778503392e-08, + "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": 1.0314080100215506e-05, + "observation_loss": 1.0189750355493743e-05, + "chamfer": 7.707396434852853e-06, + "track": 2.482353693267214e-06, + "acceleration": 1.24330185258259e-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": 1.0755809853435494e-05, + "observation_loss": 1.0560042028373573e-05, + "chamfer": 7.895003363955766e-06, + "track": 2.665038664417807e-06, + "acceleration": 1.9576822296585306e-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": 1.1173127859365195e-05, + "observation_loss": 1.0946261681965552e-05, + "chamfer": 8.092707503237762e-06, + "track": 2.853554406101466e-06, + "acceleration": 2.268665753035748e-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": 1.1468785487522837e-05, + "observation_loss": 1.1296713637420908e-05, + "chamfer": 8.287830496556126e-06, + "track": 3.008883595612133e-06, + "acceleration": 1.7207227642757061e-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": 1.1582021215872373e-05, + "observation_loss": 1.1475891369627789e-05, + "chamfer": 8.371262993023265e-06, + "track": 3.104628149230848e-06, + "acceleration": 1.0613008072368757e-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": 1.1942427590838633e-05, + "observation_loss": 1.1730420737876557e-05, + "chamfer": 8.52967696118867e-06, + "track": 3.2007442314352375e-06, + "acceleration": 2.1200715139002568e-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": 1.2289662663533818e-05, + "observation_loss": 1.2067546776961535e-05, + "chamfer": 8.724647159397136e-06, + "track": 3.3428998449380742e-06, + "acceleration": 2.2211602868082991e-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": 1.2393725228321273e-05, + "observation_loss": 1.2311926184338517e-05, + "chamfer": 8.857073225954082e-06, + "track": 3.4548534131317865e-06, + "acceleration": 8.179894450677239e-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": 1.249975866812747e-05, + "observation_loss": 1.2419053746270947e-05, + "chamfer": 8.906154107535258e-06, + "track": 3.5128991839883383e-06, + "acceleration": 8.070507817592443e-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": 1.2553296983242035e-05, + "observation_loss": 1.248409171239473e-05, + "chamfer": 8.943185093812644e-06, + "track": 3.5409068459557602e-06, + "acceleration": 6.920542006128017e-08, + "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": 1.2563897143991198e-05, + "observation_loss": 1.2508190593507607e-05, + "chamfer": 8.932600394473411e-06, + "track": 3.5755901990341954e-06, + "acceleration": 5.57063586370532e-08, + "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": 1.2579173017002176e-05, + "observation_loss": 1.2527420039987192e-05, + "chamfer": 8.91906711331103e-06, + "track": 3.608352699302486e-06, + "acceleration": 5.1752682139749595e-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": 1.2637603504117578e-05, + "observation_loss": 1.2511035492934752e-05, + "chamfer": 8.917421837395523e-06, + "track": 3.593613882912905e-06, + "acceleration": 1.2656839487590332e-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": 1.2587634955707472e-05, + "observation_loss": 1.2471081390685868e-05, + "chamfer": 8.895231076166965e-06, + "track": 3.575850541892578e-06, + "acceleration": 1.1655331633164678e-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": 1.2454782336135395e-05, + "observation_loss": 1.2443551895557903e-05, + "chamfer": 8.864732080837712e-06, + "track": 3.5788195873465156e-06, + "acceleration": 1.1230588903288208e-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": 1.2461114238249138e-05, + "observation_loss": 1.240882647834951e-05, + "chamfer": 8.831265404296573e-06, + "track": 3.577560846679262e-06, + "acceleration": 5.2288005036871255e-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": 1.2486148079915438e-05, + "observation_loss": 1.2373820936772972e-05, + "chamfer": 8.800964678812306e-06, + "track": 3.572856257960666e-06, + "acceleration": 1.1232706498276457e-07, + "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": 1.2384186447889078e-05, + "observation_loss": 1.2273943866603076e-05, + "chamfer": 8.747419997234829e-06, + "track": 3.5265236419945722e-06, + "acceleration": 1.1024287971395097e-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": 1.2127520676585846e-05, + "observation_loss": 1.2082034118066076e-05, + "chamfer": 8.64354024088243e-06, + "track": 3.4384936498099705e-06, + "acceleration": 4.5486515887205314e-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": 9.697373606343263e-06, + "chamfer_mean": 6.710373744075089e-06, + "track_mean": 1.953879950870411e-06, + "acceleration_mean": 1.0331199208254056e-06, + "observation_score": 8.664253707972117e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4161151940006675 + }, + "score_arrays_file": "pass_scores/pass_end_0119.npz", + "score_arrays_sha256": "cb2c0f08744eb41a6ff44845e77f247d216741eaa859f3b1f7098ed639284100" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0120.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0120.json new file mode 100644 index 0000000000000000000000000000000000000000..c2521c5d2d7bed86671de673a1b9cb52ab36cacd --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0120.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11520, + "completed_passes": 120, + "snapshot": "pass_end_0120", + "candidate": true, + "snapshot_arrays_sha256": "c618e7df7c646c66c68a94b862c08f5eebcba46797717c54fedc12a830e4cf49", + "score": 8.653788986142294e-06, + "score_result": { + "score": 8.653788986142294e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9711595743719954e-06, + 3.3632709346420597e-06, + 3.823589850071585e-06, + 4.825911219086265e-06, + 5.74024170418852e-06, + 6.199067684065085e-06, + 6.266537639021408e-06, + 6.077046236896422e-06, + 5.873371264897287e-06, + 5.793455784441903e-06, + 5.934751243330538e-06, + 6.158141331980005e-06, + 6.3786555983824655e-06, + 6.5898284447030164e-06, + 6.7148621383239515e-06, + 6.855003903183388e-06, + 6.750961802026723e-06, + 6.465469596150797e-06, + 6.2757312662142795e-06, + 6.265107003855519e-06, + 6.285182280407753e-06, + 6.175504040584201e-06, + 5.915911970078014e-06, + 5.797094672743697e-06, + 6.007680894981604e-06, + 6.4068772189784795e-06, + 6.678867976006586e-06, + 6.7772848524327856e-06, + 6.697952812828589e-06, + 6.550552825501654e-06, + 6.4469904828001745e-06, + 6.5094777710328344e-06, + 6.6472121034166776e-06, + 6.9317820816650055e-06, + 7.1762306106393225e-06, + 7.523088243033271e-06, + 7.818541234883014e-06, + 7.881149031163659e-06, + 7.84557869337732e-06, + 7.986083801370114e-06, + 8.363851520698518e-06, + 8.695349606568925e-06, + 8.833560968923848e-06, + 8.98195958143333e-06, + 9.009469977172557e-06, + 8.981719474832062e-06, + 8.94309050636366e-06, + 9.245561159332283e-06, + 9.817485988605767e-06, + 1.0265623131999746e-05, + 1.0086165275424719e-05, + 9.73769692791393e-06, + 9.480181688559242e-06, + 9.227550435753074e-06, + 9.20517231861595e-06, + 9.259560101781972e-06, + 9.255861186829861e-06, + 9.262956154998392e-06, + 9.298104487243108e-06, + 9.370448424306232e-06, + 9.459569810132962e-06, + 9.493738616583869e-06, + 9.647436854720581e-06, + 9.825550478126388e-06, + 1.0083114830194972e-05, + 1.0130224836757407e-05, + 1.0118147656612564e-05, + 1.0077185834234115e-05, + 1.0010465302912053e-05, + 9.875038813333958e-06, + 9.686312296253163e-06, + 9.630832209950313e-06, + 9.616176612325944e-06, + 9.669086466601584e-06, + 9.77539093582891e-06, + 9.910288099490572e-06, + 1.0019532965088729e-05, + 1.0188992746407166e-05, + 1.0558159374340903e-05, + 1.0943853339995258e-05, + 1.1294906471448485e-05, + 1.1472925507405307e-05, + 1.1727289347618353e-05, + 1.2063611393386964e-05, + 1.2309129488130566e-05, + 1.2415889614203479e-05, + 1.2480873920139857e-05, + 1.2504562619142234e-05, + 1.2524302292149514e-05, + 1.2507701285358053e-05, + 1.2467742635635659e-05, + 1.2440690625226125e-05, + 1.240603523910977e-05, + 1.2372887795208953e-05, + 1.22725195979001e-05, + 1.208100002259016e-05 + ] + ], + "episode_mean_losses": [ + 8.653788986142294e-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": 2.9711595743719954e-06, + "observation_loss": 2.9711595743719954e-06, + "chamfer": 2.519678901080624e-06, + "track": 4.514806732913712e-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": 4.568599979393184e-05, + "observation_loss": 3.3632709346420597e-06, + "chamfer": 2.844588834705064e-06, + "track": 5.186821567804145e-07, + "acceleration": 4.232272840454243e-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": 2.7861829948960803e-05, + "observation_loss": 3.823589850071585e-06, + "chamfer": 3.223235580662731e-06, + "track": 6.003542694088537e-07, + "acceleration": 2.4038239644141868e-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": 1.3306254913914017e-05, + "observation_loss": 4.825911219086265e-06, + "chamfer": 4.003310095868073e-06, + "track": 8.226010663747729e-07, + "acceleration": 8.480344149575103e-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": 1.011285166896414e-05, + "observation_loss": 5.74024170418852e-06, + "chamfer": 4.666925633500796e-06, + "track": 1.0733160706877243e-06, + "acceleration": 4.372610419522971e-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": 7.86266627983423e-06, + "observation_loss": 6.199067684065085e-06, + "chamfer": 4.966326287103584e-06, + "track": 1.2327411695878254e-06, + "acceleration": 1.6635989368296578e-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": 7.952933628985193e-06, + "observation_loss": 6.266537639021408e-06, + "chamfer": 4.986101430404233e-06, + "track": 1.2804360949303373e-06, + "acceleration": 1.6863957625901094e-06, + "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": 6.880807177367387e-06, + "observation_loss": 6.077046236896422e-06, + "chamfer": 4.840495876123896e-06, + "track": 1.2365505881462013e-06, + "acceleration": 8.037608836275467e-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": 6.622506589337718e-06, + "observation_loss": 5.873371264897287e-06, + "chamfer": 4.696591986430576e-06, + "track": 1.1767793921535485e-06, + "acceleration": 7.491355518141063e-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": 6.446461156883743e-06, + "observation_loss": 5.793455784441903e-06, + "chamfer": 4.662375886255177e-06, + "track": 1.1310800118735642e-06, + "acceleration": 6.530052587550017e-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": 6.380974355124636e-06, + "observation_loss": 5.934751243330538e-06, + "chamfer": 4.805381195183145e-06, + "track": 1.1293702755210688e-06, + "acceleration": 4.4622331074606336e-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": 6.442174708354287e-06, + "observation_loss": 6.158141331980005e-06, + "chamfer": 4.999208613298833e-06, + "track": 1.1589328323680093e-06, + "acceleration": 2.840332626874442e-07, + "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": 6.490814485005103e-06, + "observation_loss": 6.3786555983824655e-06, + "chamfer": 5.19627201356343e-06, + "track": 1.1823836985058733e-06, + "acceleration": 1.1215906425832145e-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": 6.8079057200520765e-06, + "observation_loss": 6.5898284447030164e-06, + "chamfer": 5.382717972679529e-06, + "track": 1.2071102446498116e-06, + "acceleration": 2.1807706218623935e-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": 6.950039733055746e-06, + "observation_loss": 6.7148621383239515e-06, + "chamfer": 5.4952870414126664e-06, + "track": 1.2195752105981228e-06, + "acceleration": 2.3517748104495695e-07, + "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": 6.988303084654035e-06, + "observation_loss": 6.855003903183388e-06, + "chamfer": 5.615619102172786e-06, + "track": 1.2393848010106012e-06, + "acceleration": 1.3329939463346818e-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": 6.944150300114416e-06, + "observation_loss": 6.750961802026723e-06, + "chamfer": 5.535829131986247e-06, + "track": 1.2151328974141506e-06, + "acceleration": 1.93188498087693e-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": 6.707475677103503e-06, + "observation_loss": 6.465469596150797e-06, + "chamfer": 5.320280251908116e-06, + "track": 1.1451894579295185e-06, + "acceleration": 2.4200591042244923e-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": 6.4108303376997355e-06, + "observation_loss": 6.2757312662142795e-06, + "chamfer": 5.18109800395905e-06, + "track": 1.0946333759420668e-06, + "acceleration": 1.3509905727460136e-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": 6.387526809703559e-06, + "observation_loss": 6.265107003855519e-06, + "chamfer": 5.176654212846188e-06, + "track": 1.0884526773224934e-06, + "acceleration": 1.2242001901086041e-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": 6.460993972723372e-06, + "observation_loss": 6.285182280407753e-06, + "chamfer": 5.190647698327666e-06, + "track": 1.094534468393249e-06, + "acceleration": 1.7581177758074773e-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": 6.338560524454806e-06, + "observation_loss": 6.175504040584201e-06, + "chamfer": 5.110643087391509e-06, + "track": 1.06486106687953e-06, + "acceleration": 1.630562991294937e-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": 6.082985237298999e-06, + "observation_loss": 5.915911970078014e-06, + "chamfer": 4.911893938697176e-06, + "track": 1.0040180313808378e-06, + "acceleration": 1.6707348038380587e-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": 5.93045842833817e-06, + "observation_loss": 5.797094672743697e-06, + "chamfer": 4.811977760255104e-06, + "track": 9.851171398622682e-07, + "acceleration": 1.3336361348592618e-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": 6.141407993709436e-06, + "observation_loss": 6.007680894981604e-06, + "chamfer": 4.958692443324253e-06, + "track": 1.0489882242836757e-06, + "acceleration": 1.3372691398672032e-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": 6.687464519927744e-06, + "observation_loss": 6.4068772189784795e-06, + "chamfer": 5.246442015049979e-06, + "track": 1.1604350902416627e-06, + "acceleration": 2.805872725275549e-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": 6.972719347686507e-06, + "observation_loss": 6.678867976006586e-06, + "chamfer": 5.439683718577726e-06, + "track": 1.2391841437420226e-06, + "acceleration": 2.938514853667584e-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": 6.986560492805438e-06, + "observation_loss": 6.7772848524327856e-06, + "chamfer": 5.517261342902202e-06, + "track": 1.2600235095305834e-06, + "acceleration": 2.0927583932461857e-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": 7.178781743277796e-06, + "observation_loss": 6.697952812828589e-06, + "chamfer": 5.464225068863016e-06, + "track": 1.233727971339249e-06, + "acceleration": 4.808290441360441e-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": 6.8030831243959256e-06, + "observation_loss": 6.550552825501654e-06, + "chamfer": 5.3569910960504785e-06, + "track": 1.1935615020775003e-06, + "acceleration": 2.52530412581109e-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": 6.5168951550731435e-06, + "observation_loss": 6.4469904828001745e-06, + "chamfer": 5.282898200675845e-06, + "track": 1.1640925094980048e-06, + "acceleration": 6.990460832412282e-08, + "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": 6.560686870216159e-06, + "observation_loss": 6.5094777710328344e-06, + "chamfer": 5.336637059372151e-06, + "track": 1.1728407116606832e-06, + "acceleration": 5.120896062749125e-08, + "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": 6.7085379669151735e-06, + "observation_loss": 6.6472121034166776e-06, + "chamfer": 5.447481271403376e-06, + "track": 1.1997306046396261e-06, + "acceleration": 6.132583507678646e-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": 7.0412315835710615e-06, + "observation_loss": 6.9317820816650055e-06, + "chamfer": 5.657532710756641e-06, + "track": 1.274249257221527e-06, + "acceleration": 1.0944928874323523e-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": 7.262194685608847e-06, + "observation_loss": 7.1762306106393225e-06, + "chamfer": 5.843368398927851e-06, + "track": 1.332862211711472e-06, + "acceleration": 8.596399680982358e-08, + "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": 7.661380550416652e-06, + "observation_loss": 7.523088243033271e-06, + "chamfer": 6.099399797676597e-06, + "track": 1.423688217982999e-06, + "acceleration": 1.382919094794488e-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": 7.871789421187714e-06, + "observation_loss": 7.818541234883014e-06, + "chamfer": 6.311126526270527e-06, + "track": 1.5074147086124867e-06, + "acceleration": 5.324788077132325e-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": 8.241755494964309e-06, + "observation_loss": 7.881149031163659e-06, + "chamfer": 6.364055025187554e-06, + "track": 1.5170941196629428e-06, + "acceleration": 3.6060606589671806e-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": 7.966411430970766e-06, + "observation_loss": 7.84557869337732e-06, + "chamfer": 6.359398867061827e-06, + "track": 1.4861800536891678e-06, + "acceleration": 1.208324391654969e-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": 8.172127309080679e-06, + "observation_loss": 7.986083801370114e-06, + "chamfer": 6.4650021158740856e-06, + "track": 1.5210813444355153e-06, + "acceleration": 1.8604356455398374e-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": 8.591628102294635e-06, + "observation_loss": 8.363851520698518e-06, + "chamfer": 6.731577741447836e-06, + "track": 1.6322738929375191e-06, + "acceleration": 2.2777676633722876e-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": 8.845775482768659e-06, + "observation_loss": 8.695349606568925e-06, + "chamfer": 6.958787707844749e-06, + "track": 1.7365623534715269e-06, + "acceleration": 1.5042573409118631e-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": 8.929994692152832e-06, + "observation_loss": 8.833560968923848e-06, + "chamfer": 7.037066552584292e-06, + "track": 1.7964941889658803e-06, + "acceleration": 9.643375875612037e-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": 9.037685231305659e-06, + "observation_loss": 8.98195958143333e-06, + "chamfer": 7.130196081561735e-06, + "track": 1.8517636135584326e-06, + "acceleration": 5.572534078623903e-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": 9.093277185456827e-06, + "observation_loss": 9.009469977172557e-06, + "chamfer": 7.1440117608290166e-06, + "track": 1.8654578752830275e-06, + "acceleration": 8.380685301290214e-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": 9.064442565431818e-06, + "observation_loss": 8.981719474832062e-06, + "chamfer": 7.1238973760046065e-06, + "track": 1.857822212514293e-06, + "acceleration": 8.272322560287648e-08, + "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": 9.143611350737046e-06, + "observation_loss": 8.94309050636366e-06, + "chamfer": 7.093365184118738e-06, + "track": 1.8497249811844085e-06, + "acceleration": 2.005208017408222e-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": 9.374290129926521e-06, + "observation_loss": 9.245561159332283e-06, + "chamfer": 7.294424449355574e-06, + "track": 1.951136937350384e-06, + "acceleration": 1.2872872900970833e-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": 9.899035831040237e-06, + "observation_loss": 9.817485988605767e-06, + "chamfer": 7.661801646463573e-06, + "track": 2.15568456951587e-06, + "acceleration": 8.154950137395645e-08, + "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": 1.0523967830522452e-05, + "observation_loss": 1.0265623131999746e-05, + "chamfer": 7.96048880147282e-06, + "track": 2.3051347852742765e-06, + "acceleration": 2.58344329040483e-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": 1.0217502676823642e-05, + "observation_loss": 1.0086165275424719e-05, + "chamfer": 7.845229447411839e-06, + "track": 2.240935373265529e-06, + "acceleration": 1.3133721665781195e-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": 9.905310434987769e-06, + "observation_loss": 9.73769692791393e-06, + "chamfer": 7.628777893842198e-06, + "track": 2.1089190340717323e-06, + "acceleration": 1.676131660133251e-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": 9.526158464723267e-06, + "observation_loss": 9.480181688559242e-06, + "chamfer": 7.4615654739318416e-06, + "track": 2.0186164420010755e-06, + "acceleration": 4.597649549964444e-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": 9.283282452088315e-06, + "observation_loss": 9.227550435753074e-06, + "chamfer": 7.276186806848273e-06, + "track": 1.9513634015311254e-06, + "acceleration": 5.573162908945051e-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": 9.270021109841764e-06, + "observation_loss": 9.20517231861595e-06, + "chamfer": 7.2526045187260024e-06, + "track": 1.9525677998899482e-06, + "acceleration": 6.484862069555675e-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": 9.34483887249371e-06, + "observation_loss": 9.259560101781972e-06, + "chamfer": 7.283588274731301e-06, + "track": 1.97597137230332e-06, + "acceleration": 8.527887018772162e-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": 9.308524568041321e-06, + "observation_loss": 9.255861186829861e-06, + "chamfer": 7.276500582520384e-06, + "track": 1.9793608316831524e-06, + "acceleration": 5.266369740297705e-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": 9.406116078025661e-06, + "observation_loss": 9.262956154998392e-06, + "chamfer": 7.257192010001745e-06, + "track": 2.0057639176229713e-06, + "acceleration": 1.4315972407530353e-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": 9.594342373020481e-06, + "observation_loss": 9.298104487243108e-06, + "chamfer": 7.279108558577718e-06, + "track": 2.0189954739180394e-06, + "acceleration": 2.962379994642106e-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": 1.0001564987760503e-05, + "observation_loss": 9.370448424306232e-06, + "chamfer": 7.301576260942966e-06, + "track": 2.0688721633632667e-06, + "acceleration": 6.311166202976892e-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": 1.030439216265222e-05, + "observation_loss": 9.459569810132962e-06, + "chamfer": 7.359816663665697e-06, + "track": 2.0997529190935893e-06, + "acceleration": 8.448220683021646e-07, + "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": 9.893655260384548e-06, + "observation_loss": 9.493738616583869e-06, + "chamfer": 7.380236183962552e-06, + "track": 2.113501977873966e-06, + "acceleration": 3.999163595835853e-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": 9.776064871402923e-06, + "observation_loss": 9.647436854720581e-06, + "chamfer": 7.489242761948844e-06, + "track": 2.1581943201454123e-06, + "acceleration": 1.2862760456755495e-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": 9.9158942248323e-06, + "observation_loss": 9.825550478126388e-06, + "chamfer": 7.599490800203057e-06, + "track": 2.2260599052970065e-06, + "acceleration": 9.034398829044221e-08, + "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": 1.0145357919100206e-05, + "observation_loss": 1.0083114830194972e-05, + "chamfer": 7.758285391901154e-06, + "track": 2.324829665667494e-06, + "acceleration": 6.224299653467824e-08, + "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": 1.0181557627220172e-05, + "observation_loss": 1.0130224836757407e-05, + "chamfer": 7.783032742736395e-06, + "track": 2.3471918666473357e-06, + "acceleration": 5.133276559377009e-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": 1.0294375897501595e-05, + "observation_loss": 1.0118147656612564e-05, + "chamfer": 7.759285836073104e-06, + "track": 2.358862047913135e-06, + "acceleration": 1.7622799930450128e-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": 1.0178575394093059e-05, + "observation_loss": 1.0077185834234115e-05, + "chamfer": 7.688745427003596e-06, + "track": 2.388440634604194e-06, + "acceleration": 1.0138969486206406e-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": 1.0086254405905493e-05, + "observation_loss": 1.0010465302912053e-05, + "chamfer": 7.618665222253185e-06, + "track": 2.3918003080325434e-06, + "acceleration": 7.578911009886724e-08, + "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": 1.0102559826918878e-05, + "observation_loss": 9.875038813333958e-06, + "chamfer": 7.5328402999730315e-06, + "track": 2.3421987407346023e-06, + "acceleration": 2.27521127271757e-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": 1.0248199941997882e-05, + "observation_loss": 9.686312296253163e-06, + "chamfer": 7.429227935062954e-06, + "track": 2.257084361190209e-06, + "acceleration": 5.618878162749752e-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": 9.952555046766065e-06, + "observation_loss": 9.630832209950313e-06, + "chamfer": 7.391799044853542e-06, + "track": 2.239033619844122e-06, + "acceleration": 3.217228368157521e-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": 9.806992238736711e-06, + "observation_loss": 9.616176612325944e-06, + "chamfer": 7.3903752308979165e-06, + "track": 2.225801608801703e-06, + "acceleration": 1.9081562641076744e-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": 9.778455932973884e-06, + "observation_loss": 9.669086466601584e-06, + "chamfer": 7.432369784510229e-06, + "track": 2.2367166820913553e-06, + "acceleration": 1.0936985006537725e-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": 9.836392564466223e-06, + "observation_loss": 9.77539093582891e-06, + "chamfer": 7.506193924200488e-06, + "track": 2.269197011628421e-06, + "acceleration": 6.100208338466473e-08, + "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": 9.94567835732596e-06, + "observation_loss": 9.910288099490572e-06, + "chamfer": 7.589636425109347e-06, + "track": 2.3206519017549e-06, + "acceleration": 3.539028980981129e-08, + "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": 1.0085343092214316e-05, + "observation_loss": 1.0019532965088729e-05, + "chamfer": 7.627786999364616e-06, + "track": 2.3917459657241125e-06, + "acceleration": 6.581007738759581e-08, + "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": 1.0315189683751669e-05, + "observation_loss": 1.0188992746407166e-05, + "chamfer": 7.706934411544353e-06, + "track": 2.482058107489138e-06, + "acceleration": 1.2619727840501582e-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": 1.0753559763543308e-05, + "observation_loss": 1.0558159374340903e-05, + "chamfer": 7.89361001807265e-06, + "track": 2.6645491288945777e-06, + "acceleration": 1.9540077289548208e-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": 1.1168365745106712e-05, + "observation_loss": 1.0943853339995258e-05, + "chamfer": 8.091002200671937e-06, + "track": 2.852851594070671e-06, + "acceleration": 2.2451199299666769e-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": 1.1468475349829532e-05, + "observation_loss": 1.1294906471448485e-05, + "chamfer": 8.286511729238555e-06, + "track": 3.0083945148362545e-06, + "acceleration": 1.735690631221587e-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": 1.1580007594602648e-05, + "observation_loss": 1.1472925507405307e-05, + "chamfer": 8.369322131329682e-06, + "track": 3.103603603449301e-06, + "acceleration": 1.0708222930588818e-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": 1.1939523574255873e-05, + "observation_loss": 1.1727289347618353e-05, + "chamfer": 8.527771569788456e-06, + "track": 3.1995177778298967e-06, + "acceleration": 2.1223448243290477e-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": 1.2285338016226888e-05, + "observation_loss": 1.2063611393386964e-05, + "chamfer": 8.722618986212183e-06, + "track": 3.3409926345484564e-06, + "acceleration": 2.217268502135994e-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": 1.2390702977427281e-05, + "observation_loss": 1.2309129488130566e-05, + "chamfer": 8.855979103827849e-06, + "track": 3.4531501569290413e-06, + "acceleration": 8.157304876021954e-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": 1.2495771443354897e-05, + "observation_loss": 1.2415889614203479e-05, + "chamfer": 8.90487808646867e-06, + "track": 3.511011755108484e-06, + "acceleration": 7.988194994368314e-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": 1.2550054634630214e-05, + "observation_loss": 1.2480873920139857e-05, + "chamfer": 8.941986379795708e-06, + "track": 3.5388877677178243e-06, + "acceleration": 6.918047290582763e-08, + "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": 1.2560883988044225e-05, + "observation_loss": 1.2504562619142234e-05, + "chamfer": 8.930971489462536e-06, + "track": 3.573590902306023e-06, + "acceleration": 5.6321308505857814e-08, + "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": 1.2575836990436073e-05, + "observation_loss": 1.2524302292149514e-05, + "chamfer": 8.917849299905356e-06, + "track": 3.606452992244158e-06, + "acceleration": 5.1534275513631655e-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": 1.26351005746983e-05, + "observation_loss": 1.2507701285358053e-05, + "chamfer": 8.915954822441563e-06, + "track": 3.591746690290165e-06, + "acceleration": 1.2739896249058802e-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": 1.2586368029587902e-05, + "observation_loss": 1.2467742635635659e-05, + "chamfer": 8.893795893527567e-06, + "track": 3.5739471968554426e-06, + "acceleration": 1.1862519500027702e-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": 1.2452816008590162e-05, + "observation_loss": 1.2440690625226125e-05, + "chamfer": 8.863631592248566e-06, + "track": 3.5770594877249096e-06, + "acceleration": 1.2125832782317048e-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": 1.2457984666980337e-05, + "observation_loss": 1.240603523910977e-05, + "chamfer": 8.830021215544548e-06, + "track": 3.576013796191546e-06, + "acceleration": 5.1949257340311306e-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": 1.2484495528042316e-05, + "observation_loss": 1.2372887795208953e-05, + "chamfer": 8.800977411738131e-06, + "track": 3.5719099287234712e-06, + "acceleration": 1.11608088104731e-07, + "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": 1.2380414773360826e-05, + "observation_loss": 1.22725195979001e-05, + "chamfer": 8.747008905629627e-06, + "track": 3.5255106922704726e-06, + "acceleration": 1.0789505466846094e-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": 1.2124016393499915e-05, + "observation_loss": 1.208100002259016e-05, + "chamfer": 8.643379260320216e-06, + "track": 3.437620762269944e-06, + "acceleration": 4.301674039197678e-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": 9.6864403407911e-06, + "chamfer_mean": 6.702838734421827e-06, + "track_mean": 1.9509502718525105e-06, + "acceleration_mean": 1.0326513228039087e-06, + "observation_score": 8.653788986142294e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4288196150009753 + }, + "score_arrays_file": "pass_scores/pass_end_0120.npz", + "score_arrays_sha256": "00ef6fd463ec21c2c65aba4122f6fbf5a1c3b66188a0765188291741bf3c0990" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0121.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0121.json new file mode 100644 index 0000000000000000000000000000000000000000..e91803e7f0a5ad78a1a9c5ebf70645ab4f48d395 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0121.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11616, + "completed_passes": 121, + "snapshot": "pass_end_0121", + "candidate": true, + "snapshot_arrays_sha256": "a19896a647f63cc22a1b8a742d2a756edf2c523a7dc8b659836e0102d454884f", + "score": 8.645071801538506e-06, + "score_result": { + "score": 8.645071801538506e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9700427148782182e-06, + 3.360607024660567e-06, + 3.81691324946587e-06, + 4.8124361455847975e-06, + 5.725259597966215e-06, + 6.181185199238826e-06, + 6.247234068723628e-06, + 6.069408755138284e-06, + 5.870724180567777e-06, + 5.789039278170094e-06, + 5.926249741605716e-06, + 6.146645318949595e-06, + 6.363850843627006e-06, + 6.572866368514951e-06, + 6.696719083265634e-06, + 6.835437034169445e-06, + 6.731323537678691e-06, + 6.446028237405699e-06, + 6.2566177803091705e-06, + 6.246156772249378e-06, + 6.265608590183547e-06, + 6.155490154924337e-06, + 5.897092705708928e-06, + 5.7777901929512154e-06, + 5.985534698993433e-06, + 6.3829256760072894e-06, + 6.656912319158437e-06, + 6.757811661373125e-06, + 6.681095328531228e-06, + 6.535126885864884e-06, + 6.4313976508856285e-06, + 6.495053639810067e-06, + 6.634200872213114e-06, + 6.91824152454501e-06, + 7.163215286709601e-06, + 7.5084599302499555e-06, + 7.80348273110576e-06, + 7.865553016017657e-06, + 7.829098649381194e-06, + 7.968666977831163e-06, + 8.346127287950367e-06, + 8.678119229443837e-06, + 8.816056833893526e-06, + 8.96381516213296e-06, + 8.99188125913497e-06, + 8.964603694039397e-06, + 8.927492672228254e-06, + 9.23313018574845e-06, + 9.807585229282267e-06, + 1.025598066917155e-05, + 1.007693754218053e-05, + 9.728194527269807e-06, + 9.47041826293571e-06, + 9.217423212248832e-06, + 9.192859579343349e-06, + 9.246768968296237e-06, + 9.244607099390123e-06, + 9.250678886019159e-06, + 9.286623026127927e-06, + 9.358933311887085e-06, + 9.448897799302358e-06, + 9.485057489655446e-06, + 9.642521035857499e-06, + 9.824353583098855e-06, + 1.0086255315400194e-05, + 1.0137000572285615e-05, + 1.0126685083378106e-05, + 1.008685831038747e-05, + 1.0021830348705407e-05, + 9.88643296295777e-06, + 9.697332643554546e-06, + 9.64054652285995e-06, + 9.624097401683684e-06, + 9.674575267126784e-06, + 9.779296306078322e-06, + 9.91298566077603e-06, + 1.002019052975811e-05, + 1.0189010936301202e-05, + 1.0556450433796272e-05, + 1.0942256267298944e-05, + 1.1294268915662542e-05, + 1.1471469406387769e-05, + 1.1724832802428864e-05, + 1.2061034794896841e-05, + 1.2307391443755478e-05, + 1.2414247066772077e-05, + 1.2478853022912517e-05, + 1.250160585186677e-05, + 1.252186848432757e-05, + 1.2504895494203083e-05, + 1.2465222425817046e-05, + 1.243799488293007e-05, + 1.2403082109813113e-05, + 1.2371394404908642e-05, + 1.2270895240362734e-05, + 1.2079462067049462e-05 + ] + ], + "episode_mean_losses": [ + 8.645071801538506e-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": 2.9700427148782182e-06, + "observation_loss": 2.9700427148782182e-06, + "chamfer": 2.5187514438584913e-06, + "track": 4.512912994414364e-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": 4.5615346607519314e-05, + "observation_loss": 3.360607024660567e-06, + "chamfer": 2.842372623490519e-06, + "track": 5.182343443266291e-07, + "acceleration": 4.2254738218616694e-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": 2.78121187875513e-05, + "observation_loss": 3.81691324946587e-06, + "chamfer": 3.2178406854654895e-06, + "track": 5.990725071569614e-07, + "acceleration": 2.399520599283278e-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": 1.326947494817432e-05, + "observation_loss": 4.8124361455847975e-06, + "chamfer": 3.993139216618147e-06, + "track": 8.192969858100696e-07, + "acceleration": 8.457038347842172e-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": 1.0101120096805971e-05, + "observation_loss": 5.725259597966215e-06, + "chamfer": 4.656914825318381e-06, + "track": 1.0683447726478335e-06, + "acceleration": 4.3758604988397565e-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": 7.850871952541638e-06, + "observation_loss": 6.181185199238826e-06, + "chamfer": 4.954874839313561e-06, + "track": 1.22631058729894e-06, + "acceleration": 1.669686980676488e-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": 7.910283784440253e-06, + "observation_loss": 6.247234068723628e-06, + "chamfer": 4.973759132553823e-06, + "track": 1.273474936169805e-06, + "acceleration": 1.6630493746561115e-06, + "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": 6.844956260465551e-06, + "observation_loss": 6.069408755138284e-06, + "chamfer": 4.83576832266408e-06, + "track": 1.2336405461610411e-06, + "acceleration": 7.755475053272676e-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": 6.628553819609806e-06, + "observation_loss": 5.870724180567777e-06, + "chamfer": 4.6947916416684166e-06, + "track": 1.1759325388993602e-06, + "acceleration": 7.57829695885448e-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": 6.507569196401164e-06, + "observation_loss": 5.789039278170094e-06, + "chamfer": 4.659230853576446e-06, + "track": 1.129808424593648e-06, + "acceleration": 7.185301456047455e-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": 6.426096661016345e-06, + "observation_loss": 5.926249741605716e-06, + "chamfer": 4.799389898835216e-06, + "track": 1.1268597290836624e-06, + "acceleration": 4.998470330974669e-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": 6.44686497253133e-06, + "observation_loss": 6.146645318949595e-06, + "chamfer": 4.9912937356566545e-06, + "track": 1.1553515832929406e-06, + "acceleration": 3.002195114731876e-07, + "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": 6.481539458036423e-06, + "observation_loss": 6.363850843627006e-06, + "chamfer": 5.186063845030731e-06, + "track": 1.177787112283113e-06, + "acceleration": 1.1768866414740842e-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": 6.815280812588753e-06, + "observation_loss": 6.572866368514951e-06, + "chamfer": 5.37078631168697e-06, + "track": 1.2020801705148187e-06, + "acceleration": 2.4241435880867357e-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": 6.948975624254672e-06, + "observation_loss": 6.696719083265634e-06, + "chamfer": 5.482394499267684e-06, + "track": 1.21432458399795e-06, + "acceleration": 2.522565409890376e-07, + "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": 6.968629804759985e-06, + "observation_loss": 6.835437034169445e-06, + "chamfer": 5.6015278460108675e-06, + "track": 1.233909301845415e-06, + "acceleration": 1.33192571638574e-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": 6.925762590981321e-06, + "observation_loss": 6.731323537678691e-06, + "chamfer": 5.521453203982674e-06, + "track": 1.2098702200091793e-06, + "acceleration": 1.9443901067006664e-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": 6.687916538794525e-06, + "observation_loss": 6.446028237405699e-06, + "chamfer": 5.305670583766187e-06, + "track": 1.1403576536395121e-06, + "acceleration": 2.4188813085856964e-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": 6.392892373696668e-06, + "observation_loss": 6.2566177803091705e-06, + "chamfer": 5.166520622879034e-06, + "track": 1.0900969300564611e-06, + "acceleration": 1.3627465023091645e-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": 6.369311904563801e-06, + "observation_loss": 6.246156772249378e-06, + "chamfer": 5.162226898391964e-06, + "track": 1.083929646483739e-06, + "acceleration": 1.231552175795514e-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": 6.442954600061057e-06, + "observation_loss": 6.265608590183547e-06, + "chamfer": 5.175695150683168e-06, + "track": 1.0899135531872162e-06, + "acceleration": 1.7734618040776695e-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": 6.3215161389962304e-06, + "observation_loss": 6.155490154924337e-06, + "chamfer": 5.095158940093825e-06, + "track": 1.0603312148305122e-06, + "acceleration": 1.6602618302385963e-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": 6.0656880123133305e-06, + "observation_loss": 5.897092705708928e-06, + "chamfer": 4.897197868558578e-06, + "track": 9.998950645240257e-07, + "acceleration": 1.6859551976722287e-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": 5.9104900174133945e-06, + "observation_loss": 5.7777901929512154e-06, + "chamfer": 4.796818757313304e-06, + "track": 9.80971321951074e-07, + "acceleration": 1.326996397210678e-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": 6.118711098679341e-06, + "observation_loss": 5.985534698993433e-06, + "chamfer": 4.941425686411094e-06, + "track": 1.0441088988955016e-06, + "acceleration": 1.331765844270194e-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": 6.665080491075059e-06, + "observation_loss": 6.3829256760072894e-06, + "chamfer": 5.22813888892415e-06, + "track": 1.1547865597094642e-06, + "acceleration": 2.821548719111888e-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": 6.9529705797322094e-06, + "observation_loss": 6.656912319158437e-06, + "chamfer": 5.423114089353476e-06, + "track": 1.233798229804961e-06, + "acceleration": 2.96058146886935e-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": 6.96940196576179e-06, + "observation_loss": 6.757811661373125e-06, + "chamfer": 5.502337899088161e-06, + "track": 1.2554736485981266e-06, + "acceleration": 2.115902333343911e-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": 7.161874691519188e-06, + "observation_loss": 6.681095328531228e-06, + "chamfer": 5.451174274639925e-06, + "track": 1.2299211675781407e-06, + "acceleration": 4.80779249301122e-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": 6.7856522036890965e-06, + "observation_loss": 6.535126885864884e-06, + "chamfer": 5.344939836504636e-06, + "track": 1.1901869356734096e-06, + "acceleration": 2.505254030893411e-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": 6.500933523057029e-06, + "observation_loss": 6.4313976508856285e-06, + "chamfer": 5.270690508041298e-06, + "track": 1.1607070291574928e-06, + "acceleration": 6.953565190315203e-08, + "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": 6.544901680172188e-06, + "observation_loss": 6.495053639810067e-06, + "chamfer": 5.325243819243042e-06, + "track": 1.1698095931933494e-06, + "acceleration": 4.984812207453615e-08, + "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": 6.694320745737059e-06, + "observation_loss": 6.634200872213114e-06, + "chamfer": 5.437159870780306e-06, + "track": 1.1970408877459704e-06, + "acceleration": 6.011984510223556e-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": 7.0268965828290675e-06, + "observation_loss": 6.91824152454501e-06, + "chamfer": 5.646792942570755e-06, + "track": 1.271448581974255e-06, + "acceleration": 1.0865520749803181e-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": 7.249358532135375e-06, + "observation_loss": 7.163215286709601e-06, + "chamfer": 5.833153409184888e-06, + "track": 1.3300617638378753e-06, + "acceleration": 8.614318858235492e-08, + "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": 7.648951395822223e-06, + "observation_loss": 7.5084599302499555e-06, + "chamfer": 6.088135705795139e-06, + "track": 1.4203241107679787e-06, + "acceleration": 1.4049184926534508e-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": 7.856848242226988e-06, + "observation_loss": 7.80348273110576e-06, + "chamfer": 6.299665983533487e-06, + "track": 1.503817202319624e-06, + "acceleration": 5.336555375379248e-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": 8.226138561440166e-06, + "observation_loss": 7.865553016017657e-06, + "chamfer": 6.352425771183334e-06, + "track": 1.513127472207998e-06, + "acceleration": 3.605858296396036e-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": 7.953012755024247e-06, + "observation_loss": 7.829098649381194e-06, + "chamfer": 6.347188900690526e-06, + "track": 1.4819098623775062e-06, + "acceleration": 1.2391426196245447e-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": 8.15449675428681e-06, + "observation_loss": 7.968666977831163e-06, + "chamfer": 6.452234174503246e-06, + "track": 1.5164331443884294e-06, + "acceleration": 1.8582967697966524e-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": 8.574783350923099e-06, + "observation_loss": 8.346127287950367e-06, + "chamfer": 6.718778422509786e-06, + "track": 1.6273493201879319e-06, + "acceleration": 2.2865604876187717e-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": 8.829287253320217e-06, + "observation_loss": 8.678119229443837e-06, + "chamfer": 6.946404027985409e-06, + "track": 1.7317149740847526e-06, + "acceleration": 1.5116809493065375e-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": 8.912214980227873e-06, + "observation_loss": 8.816056833893526e-06, + "chamfer": 7.024545993772335e-06, + "track": 1.7915109538080287e-06, + "acceleration": 9.615776264126907e-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": 9.018984201247804e-06, + "observation_loss": 8.96381516213296e-06, + "chamfer": 7.117239874787629e-06, + "track": 1.8465756284058443e-06, + "acceleration": 5.5169358859075146e-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": 9.075612979358993e-06, + "observation_loss": 8.99188125913497e-06, + "chamfer": 7.131335678423056e-06, + "track": 1.8605458080855897e-06, + "acceleration": 8.37313791635097e-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": 9.04809439816745e-06, + "observation_loss": 8.964603694039397e-06, + "chamfer": 7.111546892701881e-06, + "track": 1.8530569150243537e-06, + "acceleration": 8.349114466454921e-08, + "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": 9.128795682045165e-06, + "observation_loss": 8.927492672228254e-06, + "chamfer": 7.082051070028683e-06, + "track": 1.8454411474522203e-06, + "acceleration": 2.013027540215262e-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": 9.362127457279712e-06, + "observation_loss": 9.23313018574845e-06, + "chamfer": 7.285540959856007e-06, + "track": 1.9475894532661187e-06, + "acceleration": 1.2899732837468036e-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": 9.889564353215974e-06, + "observation_loss": 9.807585229282267e-06, + "chamfer": 7.654686669411603e-06, + "track": 2.152899014618015e-06, + "acceleration": 8.197947920507431e-08, + "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": 1.051534400176024e-05, + "observation_loss": 1.025598066917155e-05, + "chamfer": 7.953534804983065e-06, + "track": 2.3024460915621603e-06, + "acceleration": 2.593629915281781e-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": 1.0209319952991791e-05, + "observation_loss": 1.007693754218053e-05, + "chamfer": 7.83866926212795e-06, + "track": 2.2382680526789045e-06, + "acceleration": 1.3238266660664522e-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": 9.897201380226761e-06, + "observation_loss": 9.728194527269807e-06, + "chamfer": 7.621955774084199e-06, + "track": 2.1062387531856075e-06, + "acceleration": 1.6900661137242423e-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": 9.516640602669213e-06, + "observation_loss": 9.47041826293571e-06, + "chamfer": 7.454754268110264e-06, + "track": 2.015663994825445e-06, + "acceleration": 4.6221902749721266e-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": 9.27274777495768e-06, + "observation_loss": 9.217423212248832e-06, + "chamfer": 7.269095476658549e-06, + "track": 1.9483281903376337e-06, + "acceleration": 5.532469771196702e-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": 9.25717358768452e-06, + "observation_loss": 9.192859579343349e-06, + "chamfer": 7.244071184686618e-06, + "track": 1.948788394656731e-06, + "acceleration": 6.431404386830764e-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": 9.331679393653758e-06, + "observation_loss": 9.246768968296237e-06, + "chamfer": 7.274849394889316e-06, + "track": 1.971919800780597e-06, + "acceleration": 8.491038272495643e-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": 9.298314580519218e-06, + "observation_loss": 9.244607099390123e-06, + "chamfer": 7.2689340413489845e-06, + "track": 1.975673285414814e-06, + "acceleration": 5.370764455392418e-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": 9.39400342758745e-06, + "observation_loss": 9.250678886019159e-06, + "chamfer": 7.248926522152033e-06, + "track": 2.001752136493451e-06, + "acceleration": 1.4332437103803386e-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": 9.582367056282237e-06, + "observation_loss": 9.286623026127927e-06, + "chamfer": 7.271549748111283e-06, + "track": 2.0150728232692927e-06, + "acceleration": 2.9574411541943846e-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": 9.990608305088244e-06, + "observation_loss": 9.358933311887085e-06, + "chamfer": 7.29411976863048e-06, + "track": 2.064813088509254e-06, + "acceleration": 6.316751637314155e-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": 1.0294445928593632e-05, + "observation_loss": 9.448897799302358e-06, + "chamfer": 7.353125056397403e-06, + "track": 2.0957727429049555e-06, + "acceleration": 8.455478450741793e-07, + "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": 9.885487997962628e-06, + "observation_loss": 9.485057489655446e-06, + "chamfer": 7.374919732683338e-06, + "track": 2.110137756972108e-06, + "acceleration": 4.0043045146376244e-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": 9.77127729129279e-06, + "observation_loss": 9.642521035857499e-06, + "chamfer": 7.48656793803093e-06, + "track": 2.155953325200244e-06, + "acceleration": 1.2875642596554826e-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": 9.91374963632552e-06, + "observation_loss": 9.824353583098855e-06, + "chamfer": 7.598911452078028e-06, + "track": 2.2254419036471518e-06, + "acceleration": 8.939593243439958e-08, + "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": 1.0147597095055971e-05, + "observation_loss": 1.0086255315400194e-05, + "chamfer": 7.760695552860852e-06, + "track": 2.325559762539342e-06, + "acceleration": 6.134163754722977e-08, + "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": 1.0187663974647876e-05, + "observation_loss": 1.0137000572285615e-05, + "chamfer": 7.78774938225979e-06, + "track": 2.3492514173995005e-06, + "acceleration": 5.0663828687902424e-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": 1.0302926057192963e-05, + "observation_loss": 1.0126685083378106e-05, + "chamfer": 7.765252121316735e-06, + "track": 2.3614334168087225e-06, + "acceleration": 1.7624121539938642e-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": 1.0187947736994829e-05, + "observation_loss": 1.008685831038747e-05, + "chamfer": 7.695493877690751e-06, + "track": 2.3913648874440696e-06, + "acceleration": 1.0108902870342718e-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": 1.0097537597175688e-05, + "observation_loss": 1.0021830348705407e-05, + "chamfer": 7.626590559084434e-06, + "track": 2.395239789620973e-06, + "acceleration": 7.570721294314353e-08, + "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": 1.0115270015376154e-05, + "observation_loss": 9.88643296295777e-06, + "chamfer": 7.540709702880122e-06, + "track": 2.345723260077648e-06, + "acceleration": 2.2883681083385454e-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": 1.0262353498546872e-05, + "observation_loss": 9.697332643554546e-06, + "chamfer": 7.436990017595235e-06, + "track": 2.2603430807066616e-06, + "acceleration": 5.650204570883943e-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": 9.964675882656593e-06, + "observation_loss": 9.64054652285995e-06, + "chamfer": 7.3982737376354635e-06, + "track": 2.2422730125981616e-06, + "acceleration": 3.241290187361301e-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": 9.816164492804091e-06, + "observation_loss": 9.624097401683684e-06, + "chamfer": 7.3953779065050185e-06, + "track": 2.2287197225523414e-06, + "acceleration": 1.9206697743356926e-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": 9.785364454728551e-06, + "observation_loss": 9.674575267126784e-06, + "chamfer": 7.435620773321716e-06, + "track": 2.2389540390577167e-06, + "acceleration": 1.1078919470719484e-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": 9.840979146247264e-06, + "observation_loss": 9.779296306078322e-06, + "chamfer": 7.508558155677747e-06, + "track": 2.2707379230269e-06, + "acceleration": 6.168280464180498e-08, + "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": 9.948306797014084e-06, + "observation_loss": 9.91298566077603e-06, + "chamfer": 7.591352186864242e-06, + "track": 2.3216337012854638e-06, + "acceleration": 3.5321267688459557e-08, + "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": 1.008854633255396e-05, + "observation_loss": 1.002019052975811e-05, + "chamfer": 7.628008006577147e-06, + "track": 2.3921820684336126e-06, + "acceleration": 6.835556831674694e-08, + "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": 1.031831470754696e-05, + "observation_loss": 1.0189010936301202e-05, + "chamfer": 7.706948963459581e-06, + "track": 2.4820624275889713e-06, + "acceleration": 1.2930421178225515e-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": 1.0752128218882717e-05, + "observation_loss": 1.0556450433796272e-05, + "chamfer": 7.892166649980936e-06, + "track": 2.664284011189011e-06, + "acceleration": 1.9567733033909462e-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": 1.1166644981130958e-05, + "observation_loss": 1.0942256267298944e-05, + "chamfer": 8.0896488725557e-06, + "track": 2.852606939995894e-06, + "acceleration": 2.243890691033812e-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": 1.147000784840202e-05, + "observation_loss": 1.1294268915662542e-05, + "chamfer": 8.28585780254798e-06, + "track": 3.0084108857408864e-06, + "acceleration": 1.7573914590229833e-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": 1.1578600606299005e-05, + "observation_loss": 1.1471469406387769e-05, + "chamfer": 8.368220733245835e-06, + "track": 3.103248673141934e-06, + "acceleration": 1.071313775469207e-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": 1.1937699127884116e-05, + "observation_loss": 1.1724832802428864e-05, + "chamfer": 8.52622451930074e-06, + "track": 3.1986082831281237e-06, + "acceleration": 2.128664249312351e-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": 1.2282006537134293e-05, + "observation_loss": 1.2061034794896841e-05, + "chamfer": 8.721382073417772e-06, + "track": 3.3396522667317186e-06, + "acceleration": 2.209720975088203e-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": 1.2389313269522972e-05, + "observation_loss": 1.2307391443755478e-05, + "chamfer": 8.855454325384926e-06, + "track": 3.451936890996876e-06, + "acceleration": 8.192150602326365e-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": 1.2494198927015532e-05, + "observation_loss": 1.2414247066772077e-05, + "chamfer": 8.904495189199224e-06, + "track": 3.509751877572853e-06, + "acceleration": 7.995174655661685e-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": 1.2548140148282982e-05, + "observation_loss": 1.2478853022912517e-05, + "chamfer": 8.941430678532925e-06, + "track": 3.5374221170059172e-06, + "acceleration": 6.928751616896989e-08, + "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": 1.2557914487842936e-05, + "observation_loss": 1.250160585186677e-05, + "chamfer": 8.929764589993283e-06, + "track": 3.5718412618734874e-06, + "acceleration": 5.630826294122926e-08, + "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": 1.2572948435263243e-05, + "observation_loss": 1.252186848432757e-05, + "chamfer": 8.917065315472428e-06, + "track": 3.6048036236024927e-06, + "acceleration": 5.107956368988198e-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": 1.2633143342100084e-05, + "observation_loss": 1.2504895494203083e-05, + "chamfer": 8.914806130633224e-06, + "track": 3.5900893635698594e-06, + "acceleration": 1.282478336861459e-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": 1.2585313015733846e-05, + "observation_loss": 1.2465222425817046e-05, + "chamfer": 8.89277634996688e-06, + "track": 3.572446303223842e-06, + "acceleration": 1.200909451881671e-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": 1.2450476788217202e-05, + "observation_loss": 1.243799488293007e-05, + "chamfer": 8.862616596161388e-06, + "track": 3.575378741516033e-06, + "acceleration": 1.2481675248920965e-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": 1.2453695489966776e-05, + "observation_loss": 1.2403082109813113e-05, + "chamfer": 8.82871972862631e-06, + "track": 3.574362381186802e-06, + "acceleration": 5.0613206070693195e-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": 1.2480920304369647e-05, + "observation_loss": 1.2371394404908642e-05, + "chamfer": 8.80071002029581e-06, + "track": 3.5706846119865077e-06, + "acceleration": 1.0952606288583411e-07, + "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": 1.2375508958939463e-05, + "observation_loss": 1.2270895240362734e-05, + "chamfer": 8.746518687985372e-06, + "track": 3.524376097630011e-06, + "acceleration": 1.0461344146506235e-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": 1.2120365681766998e-05, + "observation_loss": 1.2079462067049462e-05, + "chamfer": 8.642925422464032e-06, + "track": 3.436536417211755e-06, + "acceleration": 4.0903529452407383e-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": 9.678190698044395e-06, + "chamfer_mean": 6.696541480740355e-06, + "track_mean": 1.9485303430026115e-06, + "acceleration_mean": 1.0331188772342663e-06, + "observation_score": 8.645071801538506e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4325517790002777 + }, + "score_arrays_file": "pass_scores/pass_end_0121.npz", + "score_arrays_sha256": "120f87cdd014ab370e82c1daf1195354a1e3eefc2bd1aaee7fb9e25e645a3700" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0122.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0122.json new file mode 100644 index 0000000000000000000000000000000000000000..059462e95872b31fd1a2b74b96e58e38ef402eb0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0122.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11712, + "completed_passes": 122, + "snapshot": "pass_end_0122", + "candidate": true, + "snapshot_arrays_sha256": "0700b4221e3b7534236b775b18f5e5299c314f4c3480e9a25636cfad829c8fc4", + "score": 8.634807336704853e-06, + "score_result": { + "score": 8.634807336704853e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9689092571061337e-06, + 3.3579244700376876e-06, + 3.8103403312561568e-06, + 4.798845111508854e-06, + 5.710086952603888e-06, + 6.16299166722456e-06, + 6.227580342965666e-06, + 6.06030653216294e-06, + 5.86207670494332e-06, + 5.779845196229871e-06, + 5.914349003433017e-06, + 6.131708232715027e-06, + 6.348228907882003e-06, + 6.555516847583931e-06, + 6.679392299702158e-06, + 6.816950190113857e-06, + 6.711314199492335e-06, + 6.426420441130176e-06, + 6.236889930733014e-06, + 6.225589913810836e-06, + 6.243925781745929e-06, + 6.13321753917262e-06, + 5.876030627405271e-06, + 5.75648800804629e-06, + 5.9610574680846184e-06, + 6.356278390740044e-06, + 6.6315260482952e-06, + 6.733918326062849e-06, + 6.659471637249226e-06, + 6.5153731156897265e-06, + 6.412947186618112e-06, + 6.4776750150485896e-06, + 6.618586667173076e-06, + 6.9012776293675415e-06, + 7.1469039539806545e-06, + 7.490685220545856e-06, + 7.785703928675503e-06, + 7.848139830457512e-06, + 7.808688678778708e-06, + 7.94639709056355e-06, + 8.321652785525657e-06, + 8.653896657051519e-06, + 8.79130220710067e-06, + 8.938908649724908e-06, + 8.968272595666349e-06, + 8.942149179347325e-06, + 8.906839866540395e-06, + 9.215409590979107e-06, + 9.790475814952515e-06, + 1.0238297363684978e-05, + 1.0061086868518032e-05, + 9.713055987958796e-06, + 9.454685823584441e-06, + 9.201464308716822e-06, + 9.175030754704494e-06, + 9.229379429598339e-06, + 9.229864190274384e-06, + 9.235056495526806e-06, + 9.27249675441999e-06, + 9.34539275476709e-06, + 9.436835171072744e-06, + 9.474777471041307e-06, + 9.635561582399532e-06, + 9.821060302783735e-06, + 1.0086096153827384e-05, + 1.0140229278476909e-05, + 1.01320165413199e-05, + 1.0094023309648037e-05, + 1.0030748853750993e-05, + 9.896471055981237e-06, + 9.708161996968556e-06, + 9.650767424318474e-06, + 9.6330313681392e-06, + 9.681274605100043e-06, + 9.78527623374248e-06, + 9.917995157593396e-06, + 1.0023404684034176e-05, + 1.0191424735239707e-05, + 1.0557582754699979e-05, + 1.094353683583904e-05, + 1.1296311640762724e-05, + 1.1472482583485544e-05, + 1.172522570414003e-05, + 1.2061005691066384e-05, + 1.2308430086704902e-05, + 1.2415586752467789e-05, + 1.2479853467084467e-05, + 1.2501524906838313e-05, + 1.2522592442110181e-05, + 1.2505269296525512e-05, + 1.246614738192875e-05, + 1.2439202691894025e-05, + 1.2404427252477035e-05, + 1.2373772733553778e-05, + 1.2273196261958219e-05, + 1.208192315971246e-05 + ] + ], + "episode_mean_losses": [ + 8.634807336704853e-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": 2.9689092571061337e-06, + "observation_loss": 2.9689092571061337e-06, + "chamfer": 2.5178080704790773e-06, + "track": 4.511011297836376e-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": 4.5541641156887636e-05, + "observation_loss": 3.3579244700376876e-06, + "chamfer": 2.840139586623991e-06, + "track": 5.177849402571155e-07, + "acceleration": 4.218371759634465e-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": 2.7761188903241418e-05, + "observation_loss": 3.8103403312561568e-06, + "chamfer": 3.212527417417732e-06, + "track": 5.978128569950059e-07, + "acceleration": 2.395084811723791e-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": 1.3233785466582049e-05, + "observation_loss": 4.798845111508854e-06, + "chamfer": 3.982864654972218e-06, + "track": 8.159804565366358e-07, + "acceleration": 8.434940355073195e-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": 1.0087784175993875e-05, + "observation_loss": 5.710086952603888e-06, + "chamfer": 4.646734396374086e-06, + "track": 1.0633525562298018e-06, + "acceleration": 4.377696768642636e-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": 7.83683753979858e-06, + "observation_loss": 6.16299166722456e-06, + "chamfer": 4.943119165545795e-06, + "track": 1.2198725016787648e-06, + "acceleration": 1.673845531513507e-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": 7.863331120461226e-06, + "observation_loss": 6.227580342965666e-06, + "chamfer": 4.96115853820811e-06, + "track": 1.2664219184443937e-06, + "acceleration": 1.6357512322429102e-06, + "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": 6.805232260376215e-06, + "observation_loss": 6.06030653216294e-06, + "chamfer": 4.830047146242578e-06, + "track": 1.2302593859203625e-06, + "acceleration": 7.449255008395994e-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": 6.631747510255082e-06, + "observation_loss": 5.86207670494332e-06, + "chamfer": 4.68904772787937e-06, + "track": 1.1730289770639502e-06, + "acceleration": 7.696708053117618e-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": 6.583642516488908e-06, + "observation_loss": 5.779845196229871e-06, + "chamfer": 4.6531886255252175e-06, + "track": 1.1266567980783293e-06, + "acceleration": 8.037974907892931e-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": 6.491743988590315e-06, + "observation_loss": 5.914349003433017e-06, + "chamfer": 4.79128675578977e-06, + "track": 1.1230622476432472e-06, + "acceleration": 5.773947577836225e-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": 6.457067229348468e-06, + "observation_loss": 6.131708232715027e-06, + "chamfer": 4.9810400923888665e-06, + "track": 1.150668140326161e-06, + "acceleration": 3.2535891136831196e-07, + "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": 6.4810637923073955e-06, + "observation_loss": 6.348228907882003e-06, + "chamfer": 5.175267233425984e-06, + "track": 1.1729617881428567e-06, + "acceleration": 1.328347138951358e-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": 6.845853022241499e-06, + "observation_loss": 6.555516847583931e-06, + "chamfer": 5.358434009394841e-06, + "track": 1.197082724502252e-06, + "acceleration": 2.903359472838929e-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": 6.959355232538655e-06, + "observation_loss": 6.679392299702158e-06, + "chamfer": 5.4699448810424656e-06, + "track": 1.2094475323465304e-06, + "acceleration": 2.799631317884632e-07, + "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": 6.950410352146719e-06, + "observation_loss": 6.816950190113857e-06, + "chamfer": 5.588057319982909e-06, + "track": 1.2288926427572733e-06, + "acceleration": 1.3346023308713484e-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": 6.909328931214986e-06, + "observation_loss": 6.711314199492335e-06, + "chamfer": 5.5065816013666335e-06, + "track": 1.2047328254993772e-06, + "acceleration": 1.9801470330094162e-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": 6.667713023489341e-06, + "observation_loss": 6.426420441130176e-06, + "chamfer": 5.290817171044182e-06, + "track": 1.1356030427123187e-06, + "acceleration": 2.4129238340719894e-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": 6.37465154795791e-06, + "observation_loss": 6.236889930733014e-06, + "chamfer": 5.151409823156428e-06, + "track": 1.0854799938897486e-06, + "acceleration": 1.3776154617062275e-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": 6.3489560488960706e-06, + "observation_loss": 6.225589913810836e-06, + "chamfer": 5.146445801074151e-06, + "track": 1.079144226423523e-06, + "acceleration": 1.2336607824181556e-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": 6.422879323508823e-06, + "observation_loss": 6.243925781745929e-06, + "chamfer": 5.159063675819198e-06, + "track": 1.0848622196135693e-06, + "acceleration": 1.7895354176289402e-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": 6.3017537286214065e-06, + "observation_loss": 6.13321753917262e-06, + "chamfer": 5.077861260360805e-06, + "track": 1.0553561651249765e-06, + "acceleration": 1.6853611839451332e-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": 6.046465387044009e-06, + "observation_loss": 5.876030627405271e-06, + "chamfer": 4.8807146413309965e-06, + "track": 9.953158723874367e-07, + "acceleration": 1.7043498701241333e-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": 5.888509804208297e-06, + "observation_loss": 5.75648800804629e-06, + "chamfer": 4.780049948749365e-06, + "track": 9.764381729837623e-07, + "acceleration": 1.3202161142089608e-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": 6.093118372518802e-06, + "observation_loss": 5.9610574680846184e-06, + "chamfer": 4.922278549202019e-06, + "track": 1.038778918882599e-06, + "acceleration": 1.3206086180161947e-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": 6.640140782110393e-06, + "observation_loss": 6.356278390740044e-06, + "chamfer": 5.207735739531927e-06, + "track": 1.1485426512081176e-06, + "acceleration": 2.838621639966732e-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": 6.930601102794753e-06, + "observation_loss": 6.6315260482952e-06, + "chamfer": 5.403880550147733e-06, + "track": 1.2276452707737917e-06, + "acceleration": 2.9907516818639124e-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": 6.94811296853004e-06, + "observation_loss": 6.733918326062849e-06, + "chamfer": 5.484062967298087e-06, + "track": 1.249855358764762e-06, + "acceleration": 2.141946850997556e-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": 7.14221823727712e-06, + "observation_loss": 6.659471637249226e-06, + "chamfer": 5.43443275091704e-06, + "track": 1.2250390000190237e-06, + "acceleration": 4.827464863410569e-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": 6.765772923245095e-06, + "observation_loss": 6.5153731156897265e-06, + "chamfer": 5.3294947974791285e-06, + "track": 1.185878318210598e-06, + "acceleration": 2.50399665446821e-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": 6.483110155386385e-06, + "observation_loss": 6.412947186618112e-06, + "chamfer": 5.256203621684108e-06, + "track": 1.1567437923076795e-06, + "acceleration": 7.016305403340084e-08, + "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": 6.527136520162458e-06, + "observation_loss": 6.4776750150485896e-06, + "chamfer": 5.311484983394621e-06, + "track": 1.1661900316539686e-06, + "acceleration": 4.946162590613312e-08, + "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": 6.677713372482685e-06, + "observation_loss": 6.618586667173076e-06, + "chamfer": 5.424777555163018e-06, + "track": 1.1938089983232203e-06, + "acceleration": 5.912673373131838e-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": 7.009057299001142e-06, + "observation_loss": 6.9012776293675415e-06, + "chamfer": 5.633353339362657e-06, + "track": 1.2679242900048848e-06, + "acceleration": 1.0777966963360086e-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": 7.2332863965129945e-06, + "observation_loss": 7.1469039539806545e-06, + "chamfer": 5.820347269036574e-06, + "track": 1.3265564575704047e-06, + "acceleration": 8.63825704300325e-08, + "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": 7.632613232999574e-06, + "observation_loss": 7.490685220545856e-06, + "chamfer": 6.074424618418561e-06, + "track": 1.4162607158141327e-06, + "acceleration": 1.4192843877935957e-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": 7.840047146601137e-06, + "observation_loss": 7.785703928675503e-06, + "chamfer": 6.2861927290214226e-06, + "track": 1.499510744906729e-06, + "acceleration": 5.43435589861474e-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": 8.209945917769801e-06, + "observation_loss": 7.848139830457512e-06, + "chamfer": 6.3394436438102275e-06, + "track": 1.5086961866472848e-06, + "acceleration": 3.6180634310767346e-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": 7.9351366366609e-06, + "observation_loss": 7.808688678778708e-06, + "chamfer": 6.332040356937796e-06, + "track": 1.4766482081540744e-06, + "acceleration": 1.2644790103877313e-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": 8.131554750434589e-06, + "observation_loss": 7.94639709056355e-06, + "chamfer": 6.435975137719652e-06, + "track": 1.5104218391570612e-06, + "acceleration": 1.8515783040129463e-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": 8.551202881790232e-06, + "observation_loss": 8.321652785525657e-06, + "chamfer": 6.701096936012618e-06, + "track": 1.6205556221393635e-06, + "acceleration": 2.295499399451728e-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": 8.8072711150744e-06, + "observation_loss": 8.653896657051519e-06, + "chamfer": 6.9290945248212665e-06, + "track": 1.7248023596039275e-06, + "acceleration": 1.5337481329424918e-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": 8.88786689756671e-06, + "observation_loss": 8.79130220710067e-06, + "chamfer": 7.006879513937747e-06, + "track": 1.784422579476086e-06, + "acceleration": 9.656481125830396e-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": 8.99289170774864e-06, + "observation_loss": 8.938908649724908e-06, + "chamfer": 7.099579761415953e-06, + "track": 1.8393284335616045e-06, + "acceleration": 5.398290525704397e-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": 9.050978405866772e-06, + "observation_loss": 8.968272595666349e-06, + "chamfer": 7.114481377357151e-06, + "track": 1.853791445682873e-06, + "acceleration": 8.270618678807296e-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": 9.026029147207737e-06, + "observation_loss": 8.942149179347325e-06, + "chamfer": 7.095416549418587e-06, + "track": 1.8467326299287379e-06, + "acceleration": 8.388031602635238e-08, + "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": 9.10808375920169e-06, + "observation_loss": 8.906839866540395e-06, + "chamfer": 7.067169462970924e-06, + "track": 1.8396702898826334e-06, + "acceleration": 2.0124399213727884e-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": 9.344266800326295e-06, + "observation_loss": 9.215409590979107e-06, + "chamfer": 7.273049504874507e-06, + "track": 1.9423605408519506e-06, + "acceleration": 1.2885757882941107e-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": 9.87269504548749e-06, + "observation_loss": 9.790475814952515e-06, + "chamfer": 7.642683158337604e-06, + "track": 2.147792656614911e-06, + "acceleration": 8.221940817065843e-08, + "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": 1.049756883730879e-05, + "observation_loss": 1.0238297363684978e-05, + "chamfer": 7.941222065710463e-06, + "track": 2.2970752979745157e-06, + "acceleration": 2.5927104729817074e-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": 1.0194746209890582e-05, + "observation_loss": 1.0061086868518032e-05, + "chamfer": 7.827707122487482e-06, + "track": 2.2333802007779013e-06, + "acceleration": 1.3365956874622498e-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": 9.882357517199125e-06, + "observation_loss": 9.713055987958796e-06, + "chamfer": 7.611335604451597e-06, + "track": 2.1017199287598487e-06, + "acceleration": 1.6930171398144012e-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": 9.500964551989455e-06, + "observation_loss": 9.454685823584441e-06, + "chamfer": 7.443818503816146e-06, + "track": 2.0108673197682947e-06, + "acceleration": 4.627876393215047e-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": 9.256689736503176e-06, + "observation_loss": 9.201464308716822e-06, + "chamfer": 7.257924153236672e-06, + "track": 1.94354015548015e-06, + "acceleration": 5.5225573447614806e-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": 9.239574865205213e-06, + "observation_loss": 9.175030754704494e-06, + "chamfer": 7.231621111714048e-06, + "track": 1.9434094156167703e-06, + "acceleration": 6.454435208524956e-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": 9.314173439634033e-06, + "observation_loss": 9.229379429598339e-06, + "chamfer": 7.262869530677563e-06, + "track": 1.966510353668127e-06, + "acceleration": 8.479361923718898e-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": 9.283997314923909e-06, + "observation_loss": 9.229864190274384e-06, + "chamfer": 7.2589004957990255e-06, + "track": 1.970963921849034e-06, + "acceleration": 5.413326675807184e-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": 9.378012691740878e-06, + "observation_loss": 9.235056495526806e-06, + "chamfer": 7.238339549076045e-06, + "track": 1.996716719077085e-06, + "acceleration": 1.4295598305125168e-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": 9.568449968355708e-06, + "observation_loss": 9.27249675441999e-06, + "chamfer": 7.262140115926741e-06, + "track": 2.010356638493249e-06, + "acceleration": 2.959533844659745e-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": 9.980448339774739e-06, + "observation_loss": 9.34539275476709e-06, + "chamfer": 7.285237643372966e-06, + "track": 2.0601548840204487e-06, + "acceleration": 6.350554713208112e-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": 1.0288957128068432e-05, + "observation_loss": 9.436835171072744e-06, + "chamfer": 7.345486665144563e-06, + "track": 2.0913480511808302e-06, + "acceleration": 8.521217296220129e-07, + "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": 9.877714546746574e-06, + "observation_loss": 9.474777471041307e-06, + "chamfer": 7.368502792814979e-06, + "track": 2.1062751329736784e-06, + "acceleration": 4.029367062230449e-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": 9.765163667907473e-06, + "observation_loss": 9.635561582399532e-06, + "chamfer": 7.482394721591845e-06, + "track": 2.153166406060336e-06, + "acceleration": 1.2960252604443667e-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": 9.909674190566875e-06, + "observation_loss": 9.821060302783735e-06, + "chamfer": 7.5970292527927086e-06, + "track": 2.2240305952436756e-06, + "acceleration": 8.861390909942202e-08, + "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": 1.0146831300517078e-05, + "observation_loss": 1.0086096153827384e-05, + "chamfer": 7.760900189168751e-06, + "track": 2.3251961920323083e-06, + "acceleration": 6.073558012076319e-08, + "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": 1.0189984095632099e-05, + "observation_loss": 1.0140229278476909e-05, + "chamfer": 7.790015843056608e-06, + "track": 2.3502138901676517e-06, + "acceleration": 4.975478873348038e-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": 1.0309089702786878e-05, + "observation_loss": 1.01320165413199e-05, + "chamfer": 7.768955583742354e-06, + "track": 2.3630611849512206e-06, + "acceleration": 1.7707310462355963e-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": 1.0195526556344703e-05, + "observation_loss": 1.0094023309648037e-05, + "chamfer": 7.700488822592888e-06, + "track": 2.3935347144288244e-06, + "acceleration": 1.0150352380833283e-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": 1.0106179615831934e-05, + "observation_loss": 1.0030748853750993e-05, + "chamfer": 7.632777851540595e-06, + "track": 2.397970774836722e-06, + "acceleration": 7.543101077089887e-08, + "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": 1.0124982509296387e-05, + "observation_loss": 9.896471055981237e-06, + "chamfer": 7.547621862613596e-06, + "track": 2.348849420741317e-06, + "acceleration": 2.2851145331515e-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": 1.0273732186760753e-05, + "observation_loss": 9.708161996968556e-06, + "chamfer": 7.444594302796759e-06, + "track": 2.2635676941717975e-06, + "acceleration": 5.65569848731684e-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": 9.976019100577105e-06, + "observation_loss": 9.650767424318474e-06, + "chamfer": 7.40509995011962e-06, + "track": 2.2456674741988536e-06, + "acceleration": 3.252519036323065e-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": 9.826652785704937e-06, + "observation_loss": 9.6330313681392e-06, + "chamfer": 7.401050879707327e-06, + "track": 2.2319809431792237e-06, + "acceleration": 1.936217728371048e-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": 9.795227015274577e-06, + "observation_loss": 9.681274605100043e-06, + "chamfer": 7.439735327352537e-06, + "track": 2.241539050373831e-06, + "acceleration": 1.1395196963803755e-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": 9.848738045548089e-06, + "observation_loss": 9.78527623374248e-06, + "chamfer": 7.512373940699035e-06, + "track": 2.2729025204171194e-06, + "acceleration": 6.346203917928506e-08, + "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": 9.953341759683099e-06, + "observation_loss": 9.917995157593396e-06, + "chamfer": 7.594604539917782e-06, + "track": 2.323390845049289e-06, + "acceleration": 3.534670867111345e-08, + "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": 1.0093457603943534e-05, + "observation_loss": 1.0023404684034176e-05, + "chamfer": 7.629903848282993e-06, + "track": 2.393500608377508e-06, + "acceleration": 7.005318281017026e-08, + "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": 1.0323391506972257e-05, + "observation_loss": 1.0191424735239707e-05, + "chamfer": 7.70853330323007e-06, + "track": 2.4828909772622865e-06, + "acceleration": 1.319668569976784e-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": 1.0753943570307456e-05, + "observation_loss": 1.0557582754699979e-05, + "chamfer": 7.892600478953682e-06, + "track": 2.6649825031199725e-06, + "acceleration": 1.9636040349269024e-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": 1.1168270248163026e-05, + "observation_loss": 1.094353683583904e-05, + "chamfer": 8.090210940281395e-06, + "track": 2.853325440810295e-06, + "acceleration": 2.2473301442005322e-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": 1.1474508937681094e-05, + "observation_loss": 1.1296311640762724e-05, + "chamfer": 8.286988304462284e-06, + "track": 3.0093231089267647e-06, + "acceleration": 1.7819733955093398e-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": 1.1579364581848495e-05, + "observation_loss": 1.1472482583485544e-05, + "chamfer": 8.368762792088091e-06, + "track": 3.1037197913974524e-06, + "acceleration": 1.0688233942346415e-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": 1.1938659554289188e-05, + "observation_loss": 1.172522570414003e-05, + "chamfer": 8.526545570930466e-06, + "track": 3.1986799058358883e-06, + "acceleration": 2.134334948777905e-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": 1.228105065820273e-05, + "observation_loss": 1.2061005691066384e-05, + "chamfer": 8.721840458747465e-06, + "track": 3.3391650049452437e-06, + "acceleration": 2.2004526556429482e-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": 1.2390104529913515e-05, + "observation_loss": 1.2308430086704902e-05, + "chamfer": 8.85660028870916e-06, + "track": 3.4518302527430933e-06, + "acceleration": 8.167454979002287e-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": 1.2494585462263785e-05, + "observation_loss": 1.2415586752467789e-05, + "chamfer": 8.905904905986972e-06, + "track": 3.5096818464808166e-06, + "acceleration": 7.899895848595406e-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": 1.2549046005005948e-05, + "observation_loss": 1.2479853467084467e-05, + "chamfer": 8.942823114921339e-06, + "track": 3.5370298974157777e-06, + "acceleration": 6.919297135254965e-08, + "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": 1.2557287845993415e-05, + "observation_loss": 1.2501524906838313e-05, + "chamfer": 8.930288458941504e-06, + "track": 3.5712364478968084e-06, + "acceleration": 5.576336548074323e-08, + "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": 1.2573419553518761e-05, + "observation_loss": 1.2522592442110181e-05, + "chamfer": 8.918109415390063e-06, + "track": 3.604482571972767e-06, + "acceleration": 5.08267419263575e-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": 1.2635124221560545e-05, + "observation_loss": 1.2505269296525512e-05, + "chamfer": 8.915569196688011e-06, + "track": 3.589700327211176e-06, + "acceleration": 1.2985455555281078e-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": 1.258873180631781e-05, + "observation_loss": 1.246614738192875e-05, + "chamfer": 8.893851372704376e-06, + "track": 3.5722964639717247e-06, + "acceleration": 1.2258408332854742e-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": 1.2452586815925315e-05, + "observation_loss": 1.2439202691894025e-05, + "chamfer": 8.863952643878292e-06, + "track": 3.5752495932683814e-06, + "acceleration": 1.3383755437246236e-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": 1.2455291653168388e-05, + "observation_loss": 1.2404427252477035e-05, + "chamfer": 8.83009397512069e-06, + "track": 3.574333732103696e-06, + "acceleration": 5.086452858904522e-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": 1.2484280887292698e-05, + "observation_loss": 1.2373772733553778e-05, + "chamfer": 8.802863703749608e-06, + "track": 3.5709088024304947e-06, + "acceleration": 1.1050791215438949e-07, + "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": 1.237843116541626e-05, + "observation_loss": 1.2273196261958219e-05, + "chamfer": 8.748529580770992e-06, + "track": 3.524666908560903e-06, + "acceleration": 1.0523532978368166e-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": 1.2122627595090307e-05, + "observation_loss": 1.208192315971246e-05, + "chamfer": 8.644890840514563e-06, + "track": 3.437032319197897e-06, + "acceleration": 4.0704460246843155e-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": 9.669579841424062e-06, + "chamfer_mean": 6.689070839153525e-06, + "track_mean": 1.9457364863010676e-06, + "acceleration_mean": 1.034772533335208e-06, + "observation_score": 8.634807336704853e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4301380300003075 + }, + "score_arrays_file": "pass_scores/pass_end_0122.npz", + "score_arrays_sha256": "39268db30530ffc4ab7b44e5fccfaf7cee999722a5029688b06ba59ed46db687" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0123.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0123.json new file mode 100644 index 0000000000000000000000000000000000000000..b18ed6bb563807be387684381fb0a70f160ee8e0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0123.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11808, + "completed_passes": 123, + "snapshot": "pass_end_0123", + "candidate": true, + "snapshot_arrays_sha256": "434365b8c65727ee56aacbf3ab24d3ac0757a61d9c9bbb9d86fc4aa987cdc187", + "score": 8.62266107759524e-06, + "score_result": { + "score": 8.62266107759524e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9677594284294173e-06, + 3.3552221339050448e-06, + 3.803618710662704e-06, + 4.7852117859292775e-06, + 5.694814262824366e-06, + 6.1445889514288865e-06, + 6.207567821547855e-06, + 6.042855602572672e-06, + 5.844992756465217e-06, + 5.7666352404339705e-06, + 5.899334610148799e-06, + 6.116041276982287e-06, + 6.334566933219321e-06, + 6.538773050124291e-06, + 6.6633829192142e-06, + 6.799417860747781e-06, + 6.692113856843207e-06, + 6.407208729797276e-06, + 6.217612281034235e-06, + 6.20580067334231e-06, + 6.223532182048075e-06, + 6.112305527494755e-06, + 5.856277311977465e-06, + 5.736105777032208e-06, + 5.938254616921768e-06, + 6.331703389150789e-06, + 6.608185685763601e-06, + 6.7123478402209e-06, + 6.640511855948716e-06, + 6.4981786636053585e-06, + 6.395753189281095e-06, + 6.461098564614076e-06, + 6.603092515433673e-06, + 6.8848880800942425e-06, + 7.1303657023236156e-06, + 7.4730528467625845e-06, + 7.767800525471102e-06, + 7.830083632143214e-06, + 7.788891707605217e-06, + 7.924919373181183e-06, + 8.298996363009792e-06, + 8.632543540443294e-06, + 8.769769920036197e-06, + 8.91786203283118e-06, + 8.94822005648166e-06, + 8.922413144318853e-06, + 8.888150659913663e-06, + 9.199648047797382e-06, + 9.776496881386265e-06, + 1.0224483958154451e-05, + 1.0047158866655082e-05, + 9.699287147668656e-06, + 9.440994290343951e-06, + 9.187515388475731e-06, + 9.15809960133629e-06, + 9.212754775944632e-06, + 9.214287274517119e-06, + 9.217706974595785e-06, + 9.255493750970345e-06, + 9.329533895652276e-06, + 9.421755748917349e-06, + 9.460924047743902e-06, + 9.624913218431175e-06, + 9.813125871005468e-06, + 1.0082125299959444e-05, + 1.0138065590581391e-05, + 1.013174460240407e-05, + 1.0095438483403996e-05, + 1.0034036677097902e-05, + 9.899865290208254e-06, + 9.71032386587467e-06, + 9.651732398197055e-06, + 9.632899491407443e-06, + 9.679039976617787e-06, + 9.782187589735258e-06, + 9.913659596350044e-06, + 1.001887721940875e-05, + 1.0187074622081127e-05, + 1.055296161212027e-05, + 1.0939376807073131e-05, + 1.1293222087260801e-05, + 1.146885915659368e-05, + 1.1721047485480085e-05, + 1.2056450032105204e-05, + 1.2305341442697681e-05, + 1.2412061551003717e-05, + 1.247600266651716e-05, + 1.2496332601585891e-05, + 1.2518201401690021e-05, + 1.2500403499871027e-05, + 1.2461104233807418e-05, + 1.2434235941327643e-05, + 1.2399419574649073e-05, + 1.2369665455480572e-05, + 1.2268712453078479e-05, + 1.2077991414116696e-05 + ] + ], + "episode_mean_losses": [ + 8.62266107759524e-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": 2.9677594284294173e-06, + "observation_loss": 2.9677594284294173e-06, + "chamfer": 2.5168531010422157e-06, + "track": 4.509062137003639e-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": 4.546574200503528e-05, + "observation_loss": 3.3552221339050448e-06, + "chamfer": 2.8378904062265065e-06, + "track": 5.173317276785383e-07, + "acceleration": 4.2110521462745965e-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": 2.7710739232134074e-05, + "observation_loss": 3.803618710662704e-06, + "chamfer": 3.2070868201117264e-06, + "track": 5.965319473943964e-07, + "acceleration": 2.3907119611976668e-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": 1.3200695320847444e-05, + "observation_loss": 4.7852117859292775e-06, + "chamfer": 3.972582362621324e-06, + "track": 8.126294801513723e-07, + "acceleration": 8.415483534918167e-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": 1.0076748367282562e-05, + "observation_loss": 5.694814262824366e-06, + "chamfer": 4.636488483811263e-06, + "track": 1.0583257790131029e-06, + "acceleration": 4.381934104458196e-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": 7.823892701708246e-06, + "observation_loss": 6.1445889514288865e-06, + "chamfer": 4.931200692226412e-06, + "track": 1.2133882592024747e-06, + "acceleration": 1.6793037502793595e-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": 7.814854143362027e-06, + "observation_loss": 6.207567821547855e-06, + "chamfer": 4.948234618495917e-06, + "track": 1.2593330893651e-06, + "acceleration": 1.6072860944404965e-06, + "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": 6.76317995385034e-06, + "observation_loss": 6.042855602572672e-06, + "chamfer": 4.818818524654489e-06, + "track": 1.2240369642313453e-06, + "acceleration": 7.203245786513435e-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": 6.626582944591064e-06, + "observation_loss": 5.844992756465217e-06, + "chamfer": 4.6779014155617915e-06, + "track": 1.1670912272165879e-06, + "acceleration": 7.815901881258469e-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": 6.608458534174133e-06, + "observation_loss": 5.7666352404339705e-06, + "chamfer": 4.644773980544414e-06, + "track": 1.1218613735763938e-06, + "acceleration": 8.418232937401626e-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": 6.497604317701189e-06, + "observation_loss": 5.899334610148799e-06, + "chamfer": 4.7811427066335455e-06, + "track": 1.1181917898284155e-06, + "acceleration": 5.98269764395809e-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": 6.4328196458518505e-06, + "observation_loss": 6.116041276982287e-06, + "chamfer": 4.970198915543733e-06, + "track": 1.1458424751253915e-06, + "acceleration": 3.16778198339307e-07, + "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": 6.487626706075389e-06, + "observation_loss": 6.334566933219321e-06, + "chamfer": 5.165893981029512e-06, + "track": 1.168672838502971e-06, + "acceleration": 1.5305973022350372e-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": 6.890750682941871e-06, + "observation_loss": 6.538773050124291e-06, + "chamfer": 5.3464013944903854e-06, + "track": 1.1923715419470682e-06, + "acceleration": 3.519774338656134e-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": 6.9598113441315945e-06, + "observation_loss": 6.6633829192142e-06, + "chamfer": 5.45840475751902e-06, + "track": 1.204977934321505e-06, + "acceleration": 2.964286238693603e-07, + "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": 6.928883067303104e-06, + "observation_loss": 6.799417860747781e-06, + "chamfer": 5.575246632361086e-06, + "track": 1.2241710010130191e-06, + "acceleration": 1.2946519234446896e-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": 6.895987553434679e-06, + "observation_loss": 6.692113856843207e-06, + "chamfer": 5.492333002621308e-06, + "track": 1.1997806268482236e-06, + "acceleration": 2.0387375343489111e-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": 6.6485422394180205e-06, + "observation_loss": 6.407208729797276e-06, + "chamfer": 5.276302090351237e-06, + "track": 1.1309067531328765e-06, + "acceleration": 2.4133342435561644e-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": 6.357316578942118e-06, + "observation_loss": 6.217612281034235e-06, + "chamfer": 5.136680556461215e-06, + "track": 1.0809317245730199e-06, + "acceleration": 1.3970425527531916e-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": 6.329043117148103e-06, + "observation_loss": 6.20580067334231e-06, + "chamfer": 5.131282705406193e-06, + "track": 1.074518081622955e-06, + "acceleration": 1.2324238696237444e-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": 6.402802682714537e-06, + "observation_loss": 6.223532182048075e-06, + "chamfer": 5.143417638464598e-06, + "track": 1.0801147709571524e-06, + "acceleration": 1.792704154013336e-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": 6.283198217715835e-06, + "observation_loss": 6.112305527494755e-06, + "chamfer": 5.061592673882842e-06, + "track": 1.0507127399250749e-06, + "acceleration": 1.7089261916680698e-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": 6.027506969985552e-06, + "observation_loss": 5.856277311977465e-06, + "chamfer": 4.865215487370733e-06, + "track": 9.910619382935693e-07, + "acceleration": 1.7122960116466857e-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": 5.867273102921899e-06, + "observation_loss": 5.736105777032208e-06, + "chamfer": 4.763930064655142e-06, + "track": 9.721759397507412e-07, + "acceleration": 1.3116711272687098e-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": 6.069541996112093e-06, + "observation_loss": 5.938254616921768e-06, + "chamfer": 4.90438560518669e-06, + "track": 1.033869011735078e-06, + "acceleration": 1.3128757814229175e-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": 6.616529390157666e-06, + "observation_loss": 6.331703389150789e-06, + "chamfer": 5.188863269722788e-06, + "track": 1.142840233114839e-06, + "acceleration": 2.8482591574174876e-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": 6.909555395395728e-06, + "observation_loss": 6.608185685763601e-06, + "chamfer": 5.386111297411844e-06, + "track": 1.2220745020385948e-06, + "acceleration": 3.013695106801606e-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": 6.927748017915292e-06, + "observation_loss": 6.7123478402209e-06, + "chamfer": 5.467491519084433e-06, + "track": 1.2448564348233049e-06, + "acceleration": 2.1540034822464804e-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": 7.124055173335364e-06, + "observation_loss": 6.640511855948716e-06, + "chamfer": 5.4196661949390545e-06, + "track": 1.2208455473228241e-06, + "acceleration": 4.835433742300665e-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": 6.748636224074289e-06, + "observation_loss": 6.4981786636053585e-06, + "chamfer": 5.315986072673695e-06, + "track": 1.1821928183053387e-06, + "acceleration": 2.504573330952553e-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": 6.46574835627689e-06, + "observation_loss": 6.395753189281095e-06, + "chamfer": 5.2426075853873044e-06, + "track": 1.1531457175806281e-06, + "acceleration": 6.999505330895772e-08, + "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": 6.509683316835435e-06, + "observation_loss": 6.461098564614076e-06, + "chamfer": 5.298350515658967e-06, + "track": 1.162748048955109e-06, + "acceleration": 4.8584769984927334e-08, + "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": 6.661320185230579e-06, + "observation_loss": 6.603092515433673e-06, + "chamfer": 5.412501650425838e-06, + "track": 1.19059109238151e-06, + "acceleration": 5.822782966902196e-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": 6.991798727540299e-06, + "observation_loss": 6.8848880800942425e-06, + "chamfer": 5.620375759463059e-06, + "track": 1.2645124343180214e-06, + "acceleration": 1.0691068297319362e-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": 7.216878202598309e-06, + "observation_loss": 7.1303657023236156e-06, + "chamfer": 5.807352408737643e-06, + "track": 1.3230135209596483e-06, + "acceleration": 8.651261396153131e-08, + "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": 7.616147740918677e-06, + "observation_loss": 7.4730528467625845e-06, + "chamfer": 6.060783107386669e-06, + "track": 1.412269853062753e-06, + "acceleration": 1.4309486573438335e-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": 7.822466614015866e-06, + "observation_loss": 7.767800525471102e-06, + "chamfer": 6.272614427871304e-06, + "track": 1.4951857565392856e-06, + "acceleration": 5.4666500659550366e-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": 8.19408342067618e-06, + "observation_loss": 7.830083632143214e-06, + "chamfer": 6.32600449534948e-06, + "track": 1.5040791367937345e-06, + "acceleration": 3.639997885329649e-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": 7.918833034636918e-06, + "observation_loss": 7.788891707605217e-06, + "chamfer": 6.317293355095899e-06, + "track": 1.4715981251356425e-06, + "acceleration": 1.2994088649520563e-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": 8.110727321763989e-06, + "observation_loss": 7.924919373181183e-06, + "chamfer": 6.420287718356121e-06, + "track": 1.5046313137645484e-06, + "acceleration": 1.858081475347717e-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": 8.53086203278508e-06, + "observation_loss": 8.298996363009792e-06, + "chamfer": 6.684726940875407e-06, + "track": 1.6142697631948977e-06, + "acceleration": 2.3186612452263944e-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": 8.788581908447668e-06, + "observation_loss": 8.632543540443294e-06, + "chamfer": 6.913785000506323e-06, + "track": 1.718758539936971e-06, + "acceleration": 1.5603876590830623e-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": 8.866799362294842e-06, + "observation_loss": 8.769769920036197e-06, + "chamfer": 6.991366717556957e-06, + "track": 1.7784036572265904e-06, + "acceleration": 9.702954884005521e-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": 8.970793714979663e-06, + "observation_loss": 8.91786203283118e-06, + "chamfer": 7.084636308718473e-06, + "track": 1.8332254967390327e-06, + "acceleration": 5.2931227401131764e-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": 9.030714863911271e-06, + "observation_loss": 8.94822005648166e-06, + "chamfer": 7.1001218202582095e-06, + "track": 1.8480983499102877e-06, + "acceleration": 8.249455163422681e-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": 9.007129847304896e-06, + "observation_loss": 8.922413144318853e-06, + "chamfer": 7.081211151671596e-06, + "track": 1.8412017652735813e-06, + "acceleration": 8.471692325429103e-08, + "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": 9.09002665139269e-06, + "observation_loss": 8.888150659913663e-06, + "chamfer": 7.053687113511842e-06, + "track": 1.834463546401821e-06, + "acceleration": 2.018764320155242e-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": 9.328565283794887e-06, + "observation_loss": 9.199648047797382e-06, + "chamfer": 7.261766313604312e-06, + "track": 1.9378819615667453e-06, + "acceleration": 1.2891730705177906e-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": 9.85902897809865e-06, + "observation_loss": 9.776496881386265e-06, + "chamfer": 7.632695997017436e-06, + "track": 2.143801111742505e-06, + "acceleration": 8.253189776041836e-08, + "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": 1.048384092428023e-05, + "observation_loss": 1.0224483958154451e-05, + "chamfer": 7.93144863564521e-06, + "track": 2.2930353225092404e-06, + "acceleration": 2.59357108234326e-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": 1.0181401194131467e-05, + "observation_loss": 1.0047158866655082e-05, + "chamfer": 7.817842742952053e-06, + "track": 2.229316123703029e-06, + "acceleration": 1.3424246958493313e-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": 9.87000203167554e-06, + "observation_loss": 9.699287147668656e-06, + "chamfer": 7.601502602483379e-06, + "track": 2.097784317811602e-06, + "acceleration": 1.707146424223538e-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": 9.48730121308472e-06, + "observation_loss": 9.440994290343951e-06, + "chamfer": 7.434169674525037e-06, + "track": 2.0068243884452386e-06, + "acceleration": 4.63068126066446e-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": 9.241898624168243e-06, + "observation_loss": 9.187515388475731e-06, + "chamfer": 7.248107976920437e-06, + "track": 1.939407866302645e-06, + "acceleration": 5.438280936687079e-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": 9.221841537510045e-06, + "observation_loss": 9.15809960133629e-06, + "chamfer": 7.219777671707561e-06, + "track": 1.938321929628728e-06, + "acceleration": 6.374210670401226e-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": 9.297804353991523e-06, + "observation_loss": 9.212754775944632e-06, + "chamfer": 7.2513666964368895e-06, + "track": 1.9613883068814175e-06, + "acceleration": 8.504934356778904e-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": 9.269543625123333e-06, + "observation_loss": 9.214287274517119e-06, + "chamfer": 7.248257588798879e-06, + "track": 1.9660294583445648e-06, + "acceleration": 5.525619428681239e-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": 9.360676813230384e-06, + "observation_loss": 9.217706974595785e-06, + "chamfer": 7.226479283417575e-06, + "track": 1.99122769117821e-06, + "acceleration": 1.429699238997273e-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": 9.55219456955092e-06, + "observation_loss": 9.255493750970345e-06, + "chamfer": 7.250592716445681e-06, + "track": 2.004900807150989e-06, + "acceleration": 2.967006480503187e-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": 9.96790640783729e-06, + "observation_loss": 9.329533895652276e-06, + "chamfer": 7.274726613104576e-06, + "track": 2.0548075099213747e-06, + "acceleration": 6.383721711245016e-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": 1.027790131047368e-05, + "observation_loss": 9.421755748917349e-06, + "chamfer": 7.335679129027994e-06, + "track": 2.0860768472630298e-06, + "acceleration": 8.561458457734261e-07, + "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": 9.86727809504373e-06, + "observation_loss": 9.460924047743902e-06, + "chamfer": 7.359640676440904e-06, + "track": 2.101283598676673e-06, + "acceleration": 4.0635413256495667e-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": 9.755176506587304e-06, + "observation_loss": 9.624913218431175e-06, + "chamfer": 7.4758004302566405e-06, + "track": 2.1491125608008588e-06, + "acceleration": 1.30263458686386e-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": 9.901285011437722e-06, + "observation_loss": 9.813125871005468e-06, + "chamfer": 7.591652774863178e-06, + "track": 2.2214728687686147e-06, + "acceleration": 8.81595383361855e-08, + "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": 1.0142302926396951e-05, + "observation_loss": 1.0082125299959444e-05, + "chamfer": 7.758325409668032e-06, + "track": 2.323799662917736e-06, + "acceleration": 6.017781828404623e-08, + "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": 1.0186960935243405e-05, + "observation_loss": 1.0138065590581391e-05, + "chamfer": 7.788373295625206e-06, + "track": 2.3496925223298604e-06, + "acceleration": 4.889570703880963e-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": 1.030991643347079e-05, + "observation_loss": 1.013174460240407e-05, + "chamfer": 7.76862543716561e-06, + "track": 2.363119392612134e-06, + "acceleration": 1.7817149000620702e-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": 1.0197288247582037e-05, + "observation_loss": 1.0095438483403996e-05, + "chamfer": 7.701331924181432e-06, + "track": 2.3941063318488887e-06, + "acceleration": 1.0184938048496406e-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": 1.0109734830621164e-05, + "observation_loss": 1.0034036677097902e-05, + "chamfer": 7.634979738213588e-06, + "track": 2.3990571662579896e-06, + "acceleration": 7.569797588757865e-08, + "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": 1.0130107511940878e-05, + "observation_loss": 9.899865290208254e-06, + "chamfer": 7.54991697249352e-06, + "track": 2.3499480903410586e-06, + "acceleration": 2.302425201605729e-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": 1.0278874469804578e-05, + "observation_loss": 9.71032386587467e-06, + "chamfer": 7.446111794706667e-06, + "track": 2.2642125259153545e-06, + "acceleration": 5.685509449904202e-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": 9.979247806768399e-06, + "observation_loss": 9.651732398197055e-06, + "chamfer": 7.405513315461576e-06, + "track": 2.246219082735479e-06, + "acceleration": 3.2751569278843817e-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": 9.827819667407311e-06, + "observation_loss": 9.632899491407443e-06, + "chamfer": 7.400615231745178e-06, + "track": 2.2322844870359404e-06, + "acceleration": 1.9492047442781768e-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": 9.796753147384152e-06, + "observation_loss": 9.679039976617787e-06, + "chamfer": 7.43780310585862e-06, + "track": 2.2412368707591668e-06, + "acceleration": 1.1771350472145059e-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": 9.847416549746413e-06, + "observation_loss": 9.782187589735258e-06, + "chamfer": 7.510116574849235e-06, + "track": 2.272071242259699e-06, + "acceleration": 6.52287610591884e-08, + "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": 9.949129889719188e-06, + "observation_loss": 9.913659596350044e-06, + "chamfer": 7.591560461150948e-06, + "track": 2.322098680451745e-06, + "acceleration": 3.547027205286213e-08, + "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": 1.0091363947140053e-05, + "observation_loss": 1.001887721940875e-05, + "chamfer": 7.626699243701296e-06, + "track": 2.3921779757074546e-06, + "acceleration": 7.248679878557596e-08, + "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": 1.032165437209187e-05, + "observation_loss": 1.0187074622081127e-05, + "chamfer": 7.705699317739345e-06, + "track": 2.481375304341782e-06, + "acceleration": 1.3458010528211162e-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": 1.0749793545983266e-05, + "observation_loss": 1.055296161212027e-05, + "chamfer": 7.889511834946461e-06, + "track": 2.6634495498001343e-06, + "acceleration": 1.9683191965214064e-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": 1.1164928764628712e-05, + "observation_loss": 1.0939376807073131e-05, + "chamfer": 8.087319656624459e-06, + "track": 2.8520576051960234e-06, + "acceleration": 2.255520712424186e-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": 1.1473918675619643e-05, + "observation_loss": 1.1293222087260801e-05, + "chamfer": 8.28486736281775e-06, + "track": 3.008354724443052e-06, + "acceleration": 1.8069688678679086e-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": 1.1575752978387754e-05, + "observation_loss": 1.146885915659368e-05, + "chamfer": 8.366399924852885e-06, + "track": 3.102459686488146e-06, + "acceleration": 1.0689380758321931e-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": 1.1936055670958012e-05, + "observation_loss": 1.1721047485480085e-05, + "chamfer": 8.523939868609887e-06, + "track": 3.1971080716175493e-06, + "acceleration": 2.1500811442365375e-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": 1.2275550034246407e-05, + "observation_loss": 1.2056450032105204e-05, + "chamfer": 8.719398465473205e-06, + "track": 3.3370513392583234e-06, + "acceleration": 2.1910040004513576e-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": 1.2386710295686498e-05, + "observation_loss": 1.2305341442697681e-05, + "chamfer": 8.855303349264432e-06, + "track": 3.4500380934332497e-06, + "acceleration": 8.136875351283379e-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": 1.2490175322454888e-05, + "observation_loss": 1.2412061551003717e-05, + "chamfer": 8.904342394089326e-06, + "track": 3.507719384288066e-06, + "acceleration": 7.811407698454786e-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": 1.2545154277177062e-05, + "observation_loss": 1.247600266651716e-05, + "chamfer": 8.941103260440286e-06, + "track": 3.5348989513295237e-06, + "acceleration": 6.915178119015764e-08, + "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": 1.255223742191447e-05, + "observation_loss": 1.2496332601585891e-05, + "chamfer": 8.927620001486503e-06, + "track": 3.568712372725713e-06, + "acceleration": 5.5904667561890165e-08, + "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": 1.256833547813585e-05, + "observation_loss": 1.2518201401690021e-05, + "chamfer": 8.916156730265357e-06, + "track": 3.60204489879834e-06, + "acceleration": 5.0134367768350785e-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": 1.263095055037411e-05, + "observation_loss": 1.2500403499871027e-05, + "chamfer": 8.913226338336244e-06, + "track": 3.5871771615347825e-06, + "acceleration": 1.3054673786427884e-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": 1.2585390322783496e-05, + "observation_loss": 1.2461104233807418e-05, + "chamfer": 8.89119110070169e-06, + "track": 3.5699133604794042e-06, + "acceleration": 1.2428638740402675e-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": 1.2448657798813656e-05, + "observation_loss": 1.2434235941327643e-05, + "chamfer": 8.86155612533912e-06, + "track": 3.5726795886148466e-06, + "acceleration": 1.4422124827717653e-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": 1.2451068869268056e-05, + "observation_loss": 1.2399419574649073e-05, + "chamfer": 8.827712008496746e-06, + "track": 3.5717080208996776e-06, + "acceleration": 5.164962146864127e-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": 1.2481446901801974e-05, + "observation_loss": 1.2369665455480572e-05, + "chamfer": 8.801040166872554e-06, + "track": 3.5686252886080183e-06, + "acceleration": 1.1178168080050455e-07, + "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": 1.237523520103423e-05, + "observation_loss": 1.2268712453078479e-05, + "chamfer": 8.746385901758913e-06, + "track": 3.5223270060669165e-06, + "acceleration": 1.0652304638369969e-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": 1.2119214261474553e-05, + "observation_loss": 1.2077991414116696e-05, + "chamfer": 8.643009095976595e-06, + "track": 3.43498186339275e-06, + "acceleration": 4.1222662616746675e-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": 9.657909103566453e-06, + "chamfer_mean": 6.680389020630173e-06, + "track_mean": 1.942272081834062e-06, + "acceleration_mean": 1.035248071536617e-06, + "observation_score": 8.62266107759524e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.417588402999172 + }, + "score_arrays_file": "pass_scores/pass_end_0123.npz", + "score_arrays_sha256": "ce766b3f80cb8c026200b8c7d5cd56d0d523fc9260d39263686836c869f2e8e4" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0124.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0124.json new file mode 100644 index 0000000000000000000000000000000000000000..31543e5b1cda2ecfa728db32ac17843fd8761474 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0124.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 11904, + "completed_passes": 124, + "snapshot": "pass_end_0124", + "candidate": true, + "snapshot_arrays_sha256": "a5f3d252acc4fddb08b65db8cfcdf30549c2a2ce76c71d1345d6f9fb4c59f576", + "score": 8.611222642211184e-06, + "score_result": { + "score": 8.611222642211184e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.966677811855334e-06, + 3.352479780005524e-06, + 3.7969480217725504e-06, + 4.771642579726176e-06, + 5.67930874240119e-06, + 6.126147127361037e-06, + 6.187565304571763e-06, + 6.024121830705553e-06, + 5.826281267218292e-06, + 5.752202014264185e-06, + 5.883351150259841e-06, + 6.099495749367634e-06, + 6.321268301689997e-06, + 6.521622708532959e-06, + 6.647324880759697e-06, + 6.781513548048679e-06, + 6.672459676337894e-06, + 6.3878760556690395e-06, + 6.198506525834091e-06, + 6.1857954278821126e-06, + 6.2029266700847074e-06, + 6.0909860621904954e-06, + 5.836294803884812e-06, + 5.715558017982403e-06, + 5.9149278968106955e-06, + 6.306547675194452e-06, + 6.5842568801599555e-06, + 6.690528607578017e-06, + 6.620743988605682e-06, + 6.480072443082463e-06, + 6.378911166393664e-06, + 6.445446615543915e-06, + 6.5889630604942795e-06, + 6.8700801421073265e-06, + 7.1151139309222344e-06, + 7.457002084265696e-06, + 7.751375051157083e-06, + 7.8127886808943e-06, + 7.769697731419e-06, + 7.904294761829078e-06, + 8.277006600110326e-06, + 8.61182707012631e-06, + 8.748423169890884e-06, + 8.896480721887201e-06, + 8.927440831030253e-06, + 8.902439731173217e-06, + 8.869933481037151e-06, + 9.184156624542084e-06, + 9.76265891949879e-06, + 1.0210654181719292e-05, + 1.003327179205371e-05, + 9.685257282399107e-06, + 9.426587894267868e-06, + 9.172426871373318e-06, + 9.14068914426025e-06, + 9.195837264996953e-06, + 9.198196494253352e-06, + 9.199942724080756e-06, + 9.237623089575209e-06, + 9.312743713962846e-06, + 9.406645403942093e-06, + 9.447560842090752e-06, + 9.6149742603302e-06, + 9.806562957237475e-06, + 1.0079802450491115e-05, + 1.0138379366253503e-05, + 1.0133466275874525e-05, + 1.0098920029122382e-05, + 1.0039013432106003e-05, + 9.905330443871208e-06, + 9.715344276628457e-06, + 9.655299436417408e-06, + 9.635641617933288e-06, + 9.679875802248716e-06, + 9.782174856809434e-06, + 9.912173482007347e-06, + 1.0016652595368214e-05, + 1.0185050996369682e-05, + 1.0550810657150578e-05, + 1.0937512342934497e-05, + 1.129217980633257e-05, + 1.146708927990403e-05, + 1.1718438145180698e-05, + 1.2054019862262066e-05, + 1.2303877156227827e-05, + 1.2410145245667081e-05, + 1.2474181858124211e-05, + 1.2492723726609256e-05, + 1.2516075003077276e-05, + 1.2497914212872274e-05, + 1.2458122910175007e-05, + 1.243128008354688e-05, + 1.239670928043779e-05, + 1.2367487215669826e-05, + 1.2266575140529312e-05, + 1.2076660823368002e-05 + ] + ], + "episode_mean_losses": [ + 8.611222642211184e-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": 2.966677811855334e-06, + "observation_loss": 2.966677811855334e-06, + "chamfer": 2.515954065529513e-06, + "track": 4.5072371790411125e-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": 4.5390344894258305e-05, + "observation_loss": 3.352479780005524e-06, + "chamfer": 2.835608938767109e-06, + "track": 5.168709549252526e-07, + "acceleration": 4.203786375001073e-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": 2.766059697023593e-05, + "observation_loss": 3.7969480217725504e-06, + "chamfer": 3.2016773729992565e-06, + "track": 5.952705919298751e-07, + "acceleration": 2.386364940321073e-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": 1.3165226846467704e-05, + "observation_loss": 4.771642579726176e-06, + "chamfer": 3.962343726016115e-06, + "track": 8.092988537100609e-07, + "acceleration": 8.393584721488878e-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": 1.0064046364277601e-05, + "observation_loss": 5.67930874240119e-06, + "chamfer": 4.626027930498822e-06, + "track": 1.0532809255892062e-06, + "acceleration": 4.38473716712906e-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": 7.808346708770841e-06, + "observation_loss": 6.126147127361037e-06, + "chamfer": 4.919242655887501e-06, + "track": 1.2069043577866978e-06, + "acceleration": 1.6821991266624536e-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": 7.766689122945536e-06, + "observation_loss": 6.187565304571763e-06, + "chamfer": 4.935302513331408e-06, + "track": 1.2522625638666796e-06, + "acceleration": 1.5791237046869355e-06, + "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": 6.723452770529548e-06, + "observation_loss": 6.024121830705553e-06, + "chamfer": 4.806688139069593e-06, + "track": 1.2174339190096362e-06, + "acceleration": 6.99331110354251e-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": 6.620969088544371e-06, + "observation_loss": 5.826281267218292e-06, + "chamfer": 4.665691903937841e-06, + "track": 1.160589363280451e-06, + "acceleration": 7.946877076392411e-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": 6.6196034822496586e-06, + "observation_loss": 5.752202014264185e-06, + "chamfer": 4.635636287275702e-06, + "track": 1.1165659543621587e-06, + "acceleration": 8.67401297455217e-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": 6.482717253675219e-06, + "observation_loss": 5.883351150259841e-06, + "chamfer": 4.770398390974151e-06, + "track": 1.1129525319120148e-06, + "acceleration": 5.993661034153774e-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": 6.400050551746972e-06, + "observation_loss": 6.099495749367634e-06, + "chamfer": 4.9587342800805345e-06, + "track": 1.1407613556002616e-06, + "acceleration": 3.005549160661758e-07, + "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": 6.5084764173661824e-06, + "observation_loss": 6.321268301689997e-06, + "chamfer": 5.156860879651504e-06, + "track": 1.1644074220384937e-06, + "acceleration": 1.8720811567618512e-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": 6.941986157471547e-06, + "observation_loss": 6.521622708532959e-06, + "chamfer": 5.334018169378396e-06, + "track": 1.1876044254677254e-06, + "acceleration": 4.203636478905537e-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": 6.946262601559283e-06, + "observation_loss": 6.647324880759697e-06, + "chamfer": 5.446803697850555e-06, + "track": 1.2005209555354668e-06, + "acceleration": 2.989378060647141e-07, + "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": 6.906692306074547e-06, + "observation_loss": 6.781513548048679e-06, + "chamfer": 5.562142177950591e-06, + "track": 1.2193711427244125e-06, + "acceleration": 1.2517858749561128e-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": 6.885277798573952e-06, + "observation_loss": 6.672459676337894e-06, + "chamfer": 5.47768286196515e-06, + "track": 1.1947769280595821e-06, + "acceleration": 2.128179232840921e-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": 6.629613835684722e-06, + "observation_loss": 6.3878760556690395e-06, + "chamfer": 5.261630576569587e-06, + "track": 1.1262454790994525e-06, + "acceleration": 2.4173783685910166e-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": 6.339455012494e-06, + "observation_loss": 6.198506525834091e-06, + "chamfer": 5.122040420246776e-06, + "track": 1.0764663329609903e-06, + "acceleration": 1.409486145576011e-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": 6.3084025896387175e-06, + "observation_loss": 6.1857954278821126e-06, + "chamfer": 5.115914063935634e-06, + "track": 1.069881250259641e-06, + "acceleration": 1.2260736070857092e-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": 6.383971594914328e-06, + "observation_loss": 6.2029266700847074e-06, + "chamfer": 5.127577878738521e-06, + "track": 1.0753489050330245e-06, + "acceleration": 1.8104506693816802e-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": 6.26531800662633e-06, + "observation_loss": 6.0909860621904954e-06, + "chamfer": 5.044993486080784e-06, + "track": 1.045992576109711e-06, + "acceleration": 1.7433211496609147e-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": 6.008223408571212e-06, + "observation_loss": 5.836294803884812e-06, + "chamfer": 4.849520337302238e-06, + "track": 9.867743528957362e-07, + "acceleration": 1.7192863310810935e-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": 5.845970463269623e-06, + "observation_loss": 5.715558017982403e-06, + "chamfer": 4.747662842419231e-06, + "track": 9.678950618763338e-07, + "acceleration": 1.304126442391862e-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": 6.045699137757765e-06, + "observation_loss": 5.9149278968106955e-06, + "chamfer": 4.8860861170396674e-06, + "track": 1.0288420071447035e-06, + "acceleration": 1.3077129779048846e-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": 6.592401405214332e-06, + "observation_loss": 6.306547675194452e-06, + "chamfer": 5.169541054783622e-06, + "track": 1.1370067340976675e-06, + "acceleration": 2.8585370159817103e-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": 6.8872714109602384e-06, + "observation_loss": 6.5842568801599555e-06, + "chamfer": 5.367844096326735e-06, + "track": 1.2164127838332206e-06, + "acceleration": 3.030145876437018e-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": 6.9075940700713545e-06, + "observation_loss": 6.690528607578017e-06, + "chamfer": 5.450685875985073e-06, + "track": 1.2398428452797816e-06, + "acceleration": 2.1706544828248298e-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": 7.106308203219669e-06, + "observation_loss": 6.620743988605682e-06, + "chamfer": 5.404305284173461e-06, + "track": 1.2164389318058966e-06, + "acceleration": 4.855641009271494e-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": 6.729941560479347e-06, + "observation_loss": 6.480072443082463e-06, + "chamfer": 5.301777036947897e-06, + "track": 1.1782952924477286e-06, + "acceleration": 2.4986908897517424e-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": 6.448968633776531e-06, + "observation_loss": 6.378911166393664e-06, + "chamfer": 5.229298949416261e-06, + "track": 1.1496119896037271e-06, + "acceleration": 7.005759528055933e-08, + "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": 6.493581167887896e-06, + "observation_loss": 6.445446615543915e-06, + "chamfer": 5.2859249990433455e-06, + "track": 1.1595216165005695e-06, + "acceleration": 4.8134779717656784e-08, + "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": 6.646786459896248e-06, + "observation_loss": 6.5889630604942795e-06, + "chamfer": 5.401277576311259e-06, + "track": 1.1876854841830209e-06, + "acceleration": 5.782350243066503e-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": 6.977119483053684e-06, + "observation_loss": 6.8700801421073265e-06, + "chamfer": 5.60865464649396e-06, + "track": 1.2614257229870418e-06, + "acceleration": 1.0703917752152847e-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": 7.201875632745214e-06, + "observation_loss": 7.1151139309222344e-06, + "chamfer": 5.795376182504697e-06, + "track": 1.3197378621043754e-06, + "acceleration": 8.676163787413316e-08, + "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": 7.5996167652192526e-06, + "observation_loss": 7.457002084265696e-06, + "chamfer": 6.048350314813433e-06, + "track": 1.4086518831391004e-06, + "acceleration": 1.4261449621244537e-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": 7.806977009749971e-06, + "observation_loss": 7.751375051157083e-06, + "chamfer": 6.260133886826225e-06, + "track": 1.4912408232703456e-06, + "acceleration": 5.560198346188372e-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": 8.177295967470855e-06, + "observation_loss": 7.8127886808943e-06, + "chamfer": 6.313097401289269e-06, + "track": 1.4996909385445178e-06, + "acceleration": 3.645070023594599e-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": 7.902552169980481e-06, + "observation_loss": 7.769697731419e-06, + "chamfer": 6.302962901827414e-06, + "track": 1.4667346022179117e-06, + "acceleration": 1.328546375134465e-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": 8.091574272839352e-06, + "observation_loss": 7.904294761829078e-06, + "chamfer": 6.405190106306691e-06, + "track": 1.4991046555223875e-06, + "acceleration": 1.8727968154053087e-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": 8.510755833412986e-06, + "observation_loss": 8.277006600110326e-06, + "chamfer": 6.6688089646049775e-06, + "track": 1.6081978628790239e-06, + "acceleration": 2.3374903435069427e-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": 8.76933063409524e-06, + "observation_loss": 8.61182707012631e-06, + "chamfer": 6.898911124153528e-06, + "track": 1.7129156049122685e-06, + "acceleration": 1.575038623968794e-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": 8.844967851473484e-06, + "observation_loss": 8.748423169890884e-06, + "chamfer": 6.975919859542046e-06, + "track": 1.7725031966620008e-06, + "acceleration": 9.6544425787215e-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": 8.948381037043873e-06, + "observation_loss": 8.896480721887201e-06, + "chamfer": 7.069379535096232e-06, + "track": 1.8271016415383201e-06, + "acceleration": 5.19006420063306e-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": 9.009130735648796e-06, + "observation_loss": 8.927440831030253e-06, + "chamfer": 7.08520428815973e-06, + "track": 1.8422362018100102e-06, + "acceleration": 8.168974119371342e-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": 8.987456567410845e-06, + "observation_loss": 8.902439731173217e-06, + "chamfer": 7.066842499625636e-06, + "track": 1.8355975726080942e-06, + "acceleration": 8.501659465309785e-08, + "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": 9.072103239304852e-06, + "observation_loss": 8.869933481037151e-06, + "chamfer": 7.0404867074103095e-06, + "track": 1.8294467736268416e-06, + "acceleration": 2.021696872134271e-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": 9.313171176472679e-06, + "observation_loss": 9.184156624542084e-06, + "chamfer": 7.250655016832752e-06, + "track": 1.933501380335656e-06, + "acceleration": 1.2901432455691975e-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": 9.845348358794581e-06, + "observation_loss": 9.76265891949879e-06, + "chamfer": 7.622878911206499e-06, + "track": 2.1397802356659668e-06, + "acceleration": 8.268937534694487e-08, + "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": 1.0469367225596216e-05, + "observation_loss": 1.0210654181719292e-05, + "chamfer": 7.9216961239581e-06, + "track": 2.288957830387517e-06, + "acceleration": 2.587132996723085e-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": 1.0167678738071118e-05, + "observation_loss": 1.003327179205371e-05, + "chamfer": 7.808018381183501e-06, + "track": 2.2252534108702093e-06, + "acceleration": 1.3440710233680875e-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": 9.857481927610934e-06, + "observation_loss": 9.685257282399107e-06, + "chamfer": 7.59152044338407e-06, + "track": 2.093736839015037e-06, + "acceleration": 1.7222431836216856e-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": 9.4729275588179e-06, + "observation_loss": 9.426587894267868e-06, + "chamfer": 7.424096565955551e-06, + "track": 2.0024915556859924e-06, + "acceleration": 4.633945493992542e-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": 9.226945621776395e-06, + "observation_loss": 9.172426871373318e-06, + "chamfer": 7.237514182634186e-06, + "track": 1.9349124613654567e-06, + "acceleration": 5.451907370002118e-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": 9.204350135405548e-06, + "observation_loss": 9.14068914426025e-06, + "chamfer": 7.207560884125996e-06, + "track": 1.9331282601342537e-06, + "acceleration": 6.366144589264877e-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": 9.279886398871895e-06, + "observation_loss": 9.195837264996953e-06, + "chamfer": 7.239629212563159e-06, + "track": 1.9562075976864435e-06, + "acceleration": 8.404952467344629e-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": 9.253637472284026e-06, + "observation_loss": 9.198196494253352e-06, + "chamfer": 7.237169484142214e-06, + "track": 1.9610267827374628e-06, + "acceleration": 5.54412054043496e-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": 9.344008503830992e-06, + "observation_loss": 9.199942724080756e-06, + "chamfer": 7.214249762910185e-06, + "track": 1.985693415917922e-06, + "acceleration": 1.4406556658741465e-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": 9.535018762107939e-06, + "observation_loss": 9.237623089575209e-06, + "chamfer": 7.238465968839591e-06, + "track": 1.999156893361942e-06, + "acceleration": 2.9739570095443923e-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": 9.952477739716414e-06, + "observation_loss": 9.312743713962846e-06, + "chamfer": 7.263548468472436e-06, + "track": 2.0491957002377603e-06, + "acceleration": 6.397337415364746e-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": 1.0265145647281315e-05, + "observation_loss": 9.406645403942093e-06, + "chamfer": 7.325850219785934e-06, + "track": 2.080795184156159e-06, + "acceleration": 8.585005843997351e-07, + "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": 9.85723363555735e-06, + "observation_loss": 9.447560842090752e-06, + "chamfer": 7.351093699980993e-06, + "track": 2.0964673694834346e-06, + "acceleration": 4.0967239556266577e-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": 9.745790521265008e-06, + "observation_loss": 9.6149742603302e-06, + "chamfer": 7.469606316590216e-06, + "track": 2.1453681711136596e-06, + "acceleration": 1.3081590566343948e-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": 9.894113645714242e-06, + "observation_loss": 9.806562957237475e-06, + "chamfer": 7.58725764171686e-06, + "track": 2.2193053155206144e-06, + "acceleration": 8.755080926903247e-08, + "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": 1.0138531251868699e-05, + "observation_loss": 1.0079802450491115e-05, + "chamfer": 7.75689841248095e-06, + "track": 2.322904492757516e-06, + "acceleration": 5.872848518606588e-08, + "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": 1.0186433428316377e-05, + "observation_loss": 1.0138379366253503e-05, + "chamfer": 7.788460607116576e-06, + "track": 2.3499183043895755e-06, + "acceleration": 4.80544031233876e-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": 1.0313422535546124e-05, + "observation_loss": 1.0133466275874525e-05, + "chamfer": 7.769735020701773e-06, + "track": 2.363730800425401e-06, + "acceleration": 1.7995662915382127e-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": 1.0200928954873234e-05, + "observation_loss": 1.0098920029122382e-05, + "chamfer": 7.703674782533199e-06, + "track": 2.395244791841833e-06, + "acceleration": 1.02009032332262e-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": 1.0114596989296842e-05, + "observation_loss": 1.0039013432106003e-05, + "chamfer": 7.638327588210814e-06, + "track": 2.4006853891478386e-06, + "acceleration": 7.558310954891567e-08, + "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": 1.0135480806638952e-05, + "observation_loss": 9.905330443871208e-06, + "chamfer": 7.5536040640145075e-06, + "track": 2.3517263798567e-06, + "acceleration": 2.301502490809071e-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": 1.0285059033776633e-05, + "observation_loss": 9.715344276628457e-06, + "chamfer": 7.4495778790151235e-06, + "track": 2.2657663976133335e-06, + "acceleration": 5.697150982086896e-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": 9.98444465949433e-06, + "observation_loss": 9.655299436417408e-06, + "chamfer": 7.40767518436769e-06, + "track": 2.2476244794233935e-06, + "acceleration": 3.291447967512795e-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": 9.832167961576488e-06, + "observation_loss": 9.635641617933288e-06, + "chamfer": 7.402121809718665e-06, + "track": 2.233520035588299e-06, + "acceleration": 1.965260025826865e-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": 9.801705346035305e-06, + "observation_loss": 9.679875802248716e-06, + "chamfer": 7.4379345278430264e-06, + "track": 2.241941729153041e-06, + "acceleration": 1.218292027260759e-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": 9.849570233200211e-06, + "observation_loss": 9.782174856809434e-06, + "chamfer": 7.509921033488354e-06, + "track": 2.27225382332108e-06, + "acceleration": 6.7395028224837e-08, + "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": 9.947892067430075e-06, + "observation_loss": 9.912173482007347e-06, + "chamfer": 7.590473160234978e-06, + "track": 2.321700094398693e-06, + "acceleration": 3.571902595922438e-08, + "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": 1.0091624972119462e-05, + "observation_loss": 1.0016652595368214e-05, + "chamfer": 7.625047601322876e-06, + "track": 2.3916049940453377e-06, + "acceleration": 7.497193621475162e-08, + "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": 1.0322060006728861e-05, + "observation_loss": 1.0185050996369682e-05, + "chamfer": 7.70438327890588e-06, + "track": 2.4806677174638025e-06, + "acceleration": 1.3700910983516223e-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": 1.0747960004664492e-05, + "observation_loss": 1.0550810657150578e-05, + "chamfer": 7.888009349699132e-06, + "track": 2.66280108007777e-06, + "acceleration": 1.9714960330929898e-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": 1.116300427383976e-05, + "observation_loss": 1.0937512342934497e-05, + "chamfer": 8.08593995316187e-06, + "track": 2.8515719350252766e-06, + "acceleration": 2.25491575633896e-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": 1.1474432540126145e-05, + "observation_loss": 1.129217980633257e-05, + "chamfer": 8.284013347292785e-06, + "track": 3.0081666864134604e-06, + "acceleration": 1.8225301801066962e-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": 1.1573849405976944e-05, + "observation_loss": 1.146708927990403e-05, + "chamfer": 8.365241228602827e-06, + "track": 3.1018475965538528e-06, + "acceleration": 1.0676031791945206e-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": 1.1935226211789995e-05, + "observation_loss": 1.1718438145180698e-05, + "chamfer": 8.522352800355293e-06, + "track": 3.196085572199081e-06, + "acceleration": 2.167882087178441e-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": 1.2271999366930686e-05, + "observation_loss": 1.2054019862262066e-05, + "chamfer": 8.718427125131711e-06, + "track": 3.3355925097566796e-06, + "acceleration": 2.1797953309032891e-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": 1.2384994988678955e-05, + "observation_loss": 1.2303877156227827e-05, + "chamfer": 8.854911357047968e-06, + "track": 3.448965571806184e-06, + "acceleration": 8.111738480920394e-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": 1.2487654203141574e-05, + "observation_loss": 1.2410145245667081e-05, + "chamfer": 8.903748494049069e-06, + "track": 3.5063969789916882e-06, + "acceleration": 7.750882957680005e-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": 1.2543107004603371e-05, + "observation_loss": 1.2474181858124211e-05, + "chamfer": 8.940721272665542e-06, + "track": 3.5334608128323453e-06, + "acceleration": 6.892559412108312e-08, + "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": 1.2548886843433138e-05, + "observation_loss": 1.2492723726609256e-05, + "chamfer": 8.925904694478959e-06, + "track": 3.566818804756622e-06, + "acceleration": 5.6162935635484246e-08, + "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": 1.2566162695293315e-05, + "observation_loss": 1.2516075003077276e-05, + "chamfer": 8.915510989027098e-06, + "track": 3.600564468797529e-06, + "acceleration": 5.0087862746295286e-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": 1.2629787306650542e-05, + "observation_loss": 1.2497914212872274e-05, + "chamfer": 8.91220861376496e-06, + "track": 3.585705599107314e-06, + "acceleration": 1.3187323588681465e-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": 1.2585549484356306e-05, + "observation_loss": 1.2458122910175007e-05, + "chamfer": 8.889807759260293e-06, + "track": 3.568315378288389e-06, + "acceleration": 1.274265315487355e-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": 1.2447809240256902e-05, + "observation_loss": 1.243128008354688e-05, + "chamfer": 8.860328307491727e-06, + "track": 3.5709517760551535e-06, + "acceleration": 1.6529462243397575e-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": 1.2449741007003468e-05, + "observation_loss": 1.239670928043779e-05, + "chamfer": 8.826705197861884e-06, + "track": 3.570004537323257e-06, + "acceleration": 5.303173011839135e-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": 1.2480354598665144e-05, + "observation_loss": 1.2367487215669826e-05, + "chamfer": 8.800400792097207e-06, + "track": 3.567086196198943e-06, + "acceleration": 1.1286706325108753e-07, + "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": 1.2374077414278872e-05, + "observation_loss": 1.2266575140529312e-05, + "chamfer": 8.745584636926651e-06, + "track": 3.5209907309763366e-06, + "acceleration": 1.0750252954494499e-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": 1.211793551192386e-05, + "observation_loss": 1.2076660823368002e-05, + "chamfer": 8.642567081551533e-06, + "track": 3.434093514442793e-06, + "acceleration": 4.127493014038919e-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": 9.646532236710451e-06, + "chamfer_mean": 6.672158773331678e-06, + "track_mean": 1.939063859701662e-06, + "acceleration_mean": 1.0353095869867583e-06, + "observation_score": 8.611222642211184e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4304451839998364 + }, + "score_arrays_file": "pass_scores/pass_end_0124.npz", + "score_arrays_sha256": "8ce542d0c02c67e2e13d4cefdfe9dc771b54d36a7ddfca19e2a9469cc0a3cfc5" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0125.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0125.json new file mode 100644 index 0000000000000000000000000000000000000000..473fcf3fac67de12b8488d08d2f9c1c2ea9871d0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0125.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12000, + "completed_passes": 125, + "snapshot": "pass_end_0125", + "candidate": true, + "snapshot_arrays_sha256": "5c23a4d097fdc0531a05dbd6c5c8e03b9d466d0a87e4419f20a63f613745e4af", + "score": 8.601292639317156e-06, + "score_result": { + "score": 8.601292639317156e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.965584599223803e-06, + 3.349767212057486e-06, + 3.790318942265003e-06, + 4.758077466249233e-06, + 5.663513093168149e-06, + 6.107482477091253e-06, + 6.1675154938711785e-06, + 6.0057927839807235e-06, + 5.80777668801602e-06, + 5.73816396354232e-06, + 5.8688628996605985e-06, + 6.08342679697671e-06, + 6.308816409728024e-06, + 6.504768862214405e-06, + 6.631566520809429e-06, + 6.763613328075735e-06, + 6.6522229644760955e-06, + 6.368318736349465e-06, + 6.179116098792292e-06, + 6.165616014186526e-06, + 6.181870048749261e-06, + 6.069151822885033e-06, + 5.81539461563807e-06, + 5.694326318916865e-06, + 5.891225555387791e-06, + 6.281059540924616e-06, + 6.559578196174698e-06, + 6.667742582067149e-06, + 6.600661436095834e-06, + 6.461981229222147e-06, + 6.361651685438119e-06, + 6.429690984077752e-06, + 6.573845894308761e-06, + 6.854721505078487e-06, + 7.099759386619553e-06, + 7.440403351210989e-06, + 7.734963219263591e-06, + 7.796025784045924e-06, + 7.75238913774956e-06, + 7.886276762292255e-06, + 8.258501111413352e-06, + 8.594286555307917e-06, + 8.730590707273223e-06, + 8.878817425284069e-06, + 8.910901669878513e-06, + 8.886813702702057e-06, + 8.855696250975598e-06, + 9.173454600386322e-06, + 9.754053280630615e-06, + 1.0202991688856855e-05, + 1.0027663847722579e-05, + 9.679456525191199e-06, + 9.419570233148988e-06, + 9.16343014978338e-06, + 9.128713827522006e-06, + 9.183597285300493e-06, + 9.186658644466661e-06, + 9.18730438570492e-06, + 9.225462235917803e-06, + 9.302102625952102e-06, + 9.396898349223193e-06, + 9.440132998861372e-06, + 9.611433597456198e-06, + 9.806497473618947e-06, + 1.0084142559207976e-05, + 1.0146146451006643e-05, + 1.0142753126274329e-05, + 1.0109402865055017e-05, + 1.0050593118648976e-05, + 9.916274393617641e-06, + 9.724439223646186e-06, + 9.661944204708561e-06, + 9.641125870984979e-06, + 9.682471500127576e-06, + 9.782825145521201e-06, + 9.910923836287111e-06, + 1.0014411600423045e-05, + 1.0182029654970393e-05, + 1.0546575140324421e-05, + 1.0933600606222171e-05, + 1.1289328540442511e-05, + 1.146358044934459e-05, + 1.1713577805494424e-05, + 1.2049464203300886e-05, + 1.230009820574196e-05, + 1.2405844245222397e-05, + 1.2470344699977431e-05, + 1.2487960702856071e-05, + 1.251196772500407e-05, + 1.2492764653870836e-05, + 1.2453339877538383e-05, + 1.242661164724268e-05, + 1.239225639437791e-05, + 1.236299067386426e-05, + 1.2262605196156073e-05, + 1.2073629477526993e-05 + ] + ], + "episode_mean_losses": [ + 8.601292639317156e-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": 2.965584599223803e-06, + "observation_loss": 2.965584599223803e-06, + "chamfer": 2.515045480322442e-06, + "track": 4.5053917574477964e-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": 4.5315529860090464e-05, + "observation_loss": 3.349767212057486e-06, + "chamfer": 2.833350663422607e-06, + "track": 5.164164349480416e-07, + "acceleration": 4.196576264803298e-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": 2.7608301024883986e-05, + "observation_loss": 3.790318942265003e-06, + "chamfer": 3.196303623553831e-06, + "track": 5.940153187111719e-07, + "acceleration": 2.3817981855245307e-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": 1.3129201761330478e-05, + "observation_loss": 4.758077466249233e-06, + "chamfer": 3.952107817895012e-06, + "track": 8.059698188844777e-07, + "acceleration": 8.371124749828596e-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": 1.0049854608951136e-05, + "observation_loss": 5.663513093168149e-06, + "chamfer": 4.615275429387111e-06, + "track": 1.0482377774678753e-06, + "acceleration": 4.386341061035637e-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": 7.79095535108354e-06, + "observation_loss": 6.107482477091253e-06, + "chamfer": 4.907074981019832e-06, + "track": 1.2004072686977452e-06, + "acceleration": 1.6834733287396375e-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": 7.716622349107638e-06, + "observation_loss": 6.1675154938711785e-06, + "chamfer": 4.922327661915915e-06, + "track": 1.2451879456421011e-06, + "acceleration": 1.5491068552364595e-06, + "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": 6.68492839395185e-06, + "observation_loss": 6.0057927839807235e-06, + "chamfer": 4.794864253199194e-06, + "track": 1.2109284170946921e-06, + "acceleration": 6.791357805013831e-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": 6.616799510084093e-06, + "observation_loss": 5.80777668801602e-06, + "chamfer": 4.653586074709892e-06, + "track": 1.154190385932452e-06, + "acceleration": 8.090227083812351e-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": 6.6274733399041e-06, + "observation_loss": 5.73816396354232e-06, + "chamfer": 4.626772351912223e-06, + "track": 1.1113918390037725e-06, + "acceleration": 8.893091489881044e-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": 6.457094514189521e-06, + "observation_loss": 5.8688628996605985e-06, + "chamfer": 4.760824140248587e-06, + "track": 1.1080388730988489e-06, + "acceleration": 5.882317282157601e-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": 6.36765935269068e-06, + "observation_loss": 6.08342679697671e-06, + "chamfer": 4.9476034291728865e-06, + "track": 1.1358233678038232e-06, + "acceleration": 2.8423249887055135e-07, + "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": 6.5557992456888314e-06, + "observation_loss": 6.308816409728024e-06, + "chamfer": 5.1484462346707005e-06, + "track": 1.1603702887441614e-06, + "acceleration": 2.4698280753909785e-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": 7.000063760642661e-06, + "observation_loss": 6.504768862214405e-06, + "chamfer": 5.321816843206761e-06, + "track": 1.1829520190076437e-06, + "acceleration": 4.952949552716746e-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": 6.9125007939874195e-06, + "observation_loss": 6.631566520809429e-06, + "chamfer": 5.435405000753235e-06, + "track": 1.196161406369356e-06, + "acceleration": 2.8093413106944354e-07, + "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": 6.8900385485903826e-06, + "observation_loss": 6.763613328075735e-06, + "chamfer": 5.549003617488779e-06, + "track": 1.214609596900118e-06, + "acceleration": 1.264250784061005e-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": 6.879066859255545e-06, + "observation_loss": 6.6522229644760955e-06, + "chamfer": 5.462533408717718e-06, + "track": 1.1896895557583775e-06, + "acceleration": 2.2684400846628705e-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": 6.61041667626705e-06, + "observation_loss": 6.368318736349465e-06, + "chamfer": 5.246754881227389e-06, + "track": 1.1215638551220763e-06, + "acceleration": 2.4209808202613203e-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": 6.320928605418885e-06, + "observation_loss": 6.179116098792292e-06, + "chamfer": 5.107128799863858e-06, + "track": 1.0719871852415963e-06, + "acceleration": 1.418125492591571e-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": 6.287415999395307e-06, + "observation_loss": 6.165616014186526e-06, + "chamfer": 5.10035306433565e-06, + "track": 1.0652628361640382e-06, + "acceleration": 1.21799956787072e-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": 6.363055490510305e-06, + "observation_loss": 6.181870048749261e-06, + "chamfer": 5.111329755891347e-06, + "track": 1.0705400654842379e-06, + "acceleration": 1.811854559718995e-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": 6.2463118410960305e-06, + "observation_loss": 6.069151822885033e-06, + "chamfer": 5.027961833548034e-06, + "track": 1.0411898756501614e-06, + "acceleration": 1.7716023137381853e-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": 5.9878448155359365e-06, + "observation_loss": 5.81539461563807e-06, + "chamfer": 4.833058937947499e-06, + "track": 9.823354503168957e-07, + "acceleration": 1.7245034200641385e-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": 5.824641448270995e-06, + "observation_loss": 5.694326318916865e-06, + "chamfer": 4.730806267616572e-06, + "track": 9.635202786739683e-07, + "acceleration": 1.3031500145643804e-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": 6.021575245540589e-06, + "observation_loss": 5.891225555387791e-06, + "chamfer": 4.867439201916568e-06, + "track": 1.0237865808448987e-06, + "acceleration": 1.3034953383339598e-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": 6.5685280787874945e-06, + "observation_loss": 6.281059540924616e-06, + "chamfer": 5.149899607204134e-06, + "track": 1.1311598200336448e-06, + "acceleration": 2.874683389109123e-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": 6.8656222538265865e-06, + "observation_loss": 6.559578196174698e-06, + "chamfer": 5.348941158445086e-06, + "track": 1.2106371514164493e-06, + "acceleration": 3.0604414291701687e-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": 6.886496521474328e-06, + "observation_loss": 6.667742582067149e-06, + "chamfer": 5.433087608253118e-06, + "track": 1.2346550875008688e-06, + "acceleration": 2.187537120335037e-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": 7.087634458002867e-06, + "observation_loss": 6.600661436095834e-06, + "chamfer": 5.388696081354283e-06, + "track": 1.2119652410547133e-06, + "acceleration": 4.869729082201957e-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": 6.7113537625118624e-06, + "observation_loss": 6.461981229222147e-06, + "chamfer": 5.287551630317466e-06, + "track": 1.1744295989046805e-06, + "acceleration": 2.493724196028779e-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": 6.431751444324618e-06, + "observation_loss": 6.361651685438119e-06, + "chamfer": 5.215646979195299e-06, + "track": 1.1460045925559825e-06, + "acceleration": 7.009997204932006e-08, + "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": 6.477209353761282e-06, + "observation_loss": 6.429690984077752e-06, + "chamfer": 5.273398073768476e-06, + "track": 1.1562929103092756e-06, + "acceleration": 4.751821691684199e-08, + "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": 6.6307225097261835e-06, + "observation_loss": 6.573845894308761e-06, + "chamfer": 5.3892258620180655e-06, + "track": 1.1846202596643707e-06, + "acceleration": 5.687669002440998e-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": 6.961035524000181e-06, + "observation_loss": 6.854721505078487e-06, + "chamfer": 5.596486971626291e-06, + "track": 1.2582343060785206e-06, + "acceleration": 1.0631416103024094e-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": 7.186135462688981e-06, + "observation_loss": 7.099759386619553e-06, + "chamfer": 5.7833372011373285e-06, + "track": 1.316421958108549e-06, + "acceleration": 8.637609028028237e-08, + "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": 7.582596026622923e-06, + "observation_loss": 7.440403351210989e-06, + "chamfer": 6.035491423972417e-06, + "track": 1.4049118135517347e-06, + "acceleration": 1.4219271804449818e-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": 7.790176823618822e-06, + "observation_loss": 7.734963219263591e-06, + "chamfer": 6.247644250834128e-06, + "track": 1.4873188547426253e-06, + "acceleration": 5.5213703831213934e-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": 8.159531716955826e-06, + "observation_loss": 7.796025784045924e-06, + "chamfer": 6.300540917436592e-06, + "track": 1.4954848666093312e-06, + "acceleration": 3.635058476447739e-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": 7.887378160376102e-06, + "observation_loss": 7.75238913774956e-06, + "chamfer": 6.290012152021518e-06, + "track": 1.4623772131017176e-06, + "acceleration": 1.349885963009001e-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": 8.074738616414834e-06, + "observation_loss": 7.886276762292255e-06, + "chamfer": 6.391932856786298e-06, + "track": 1.4943442465664702e-06, + "acceleration": 1.884615841163395e-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": 8.494089343002997e-06, + "observation_loss": 8.258501111413352e-06, + "chamfer": 6.655377546849195e-06, + "track": 1.6031237919378327e-06, + "acceleration": 2.355883736981923e-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": 8.751889254199341e-06, + "observation_loss": 8.594286555307917e-06, + "chamfer": 6.886234132252866e-06, + "track": 1.7080521956813755e-06, + "acceleration": 1.5760299731937266e-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": 8.82675976754399e-06, + "observation_loss": 8.730590707273223e-06, + "chamfer": 6.962970473978203e-06, + "track": 1.7676202332950197e-06, + "acceleration": 9.616917395760538e-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": 8.930515832616948e-06, + "observation_loss": 8.878817425284069e-06, + "chamfer": 7.056681170070078e-06, + "track": 1.8221363689008285e-06, + "acceleration": 5.1698634706554e-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": 8.992813491204288e-06, + "observation_loss": 8.910901669878513e-06, + "chamfer": 7.073264896462206e-06, + "track": 1.8376370007899823e-06, + "acceleration": 8.191140210556114e-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": 8.972589967015665e-06, + "observation_loss": 8.886813702702057e-06, + "chamfer": 7.055560217850143e-06, + "track": 1.8312534848519135e-06, + "acceleration": 8.577603693993296e-08, + "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": 9.058629984792788e-06, + "observation_loss": 8.855696250975598e-06, + "chamfer": 7.030086180748185e-06, + "track": 1.8256097291668993e-06, + "acceleration": 2.0293353486522392e-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": 9.303428669227287e-06, + "observation_loss": 9.173454600386322e-06, + "chamfer": 7.242835636134259e-06, + "track": 1.930619418999413e-06, + "acceleration": 1.2997445253404294e-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": 9.836660865403246e-06, + "observation_loss": 9.754053280630615e-06, + "chamfer": 7.616552466060966e-06, + "track": 2.137500587195973e-06, + "acceleration": 8.260793293857205e-08, + "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": 1.0461468264111318e-05, + "observation_loss": 1.0202991688856855e-05, + "chamfer": 7.9161045505316e-06, + "track": 2.2868875930726063e-06, + "acceleration": 2.584767173630098e-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": 1.0161227692151442e-05, + "observation_loss": 1.0027663847722579e-05, + "chamfer": 7.803813787177205e-06, + "track": 2.2238500605453737e-06, + "acceleration": 1.3356427075450483e-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": 9.850603419181425e-06, + "observation_loss": 9.679456525191199e-06, + "chamfer": 7.587181698909262e-06, + "track": 2.092274826281937e-06, + "acceleration": 1.7114666661655065e-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": 9.465516086493153e-06, + "observation_loss": 9.419570233148988e-06, + "chamfer": 7.419182566081872e-06, + "track": 2.0003878944407916e-06, + "acceleration": 4.594603097984873e-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": 9.217615115630906e-06, + "observation_loss": 9.16343014978338e-06, + "chamfer": 7.231282779684989e-06, + "track": 1.9321473700983915e-06, + "acceleration": 5.4184969400239424e-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": 9.191840945277363e-06, + "observation_loss": 9.128713827522006e-06, + "chamfer": 7.199251740530599e-06, + "track": 1.9294623143650824e-06, + "acceleration": 6.312677669484401e-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": 9.26659777178429e-06, + "observation_loss": 9.183597285300493e-06, + "chamfer": 7.2312200245505664e-06, + "track": 1.9523774881236022e-06, + "acceleration": 8.300057885435308e-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": 9.240093277185224e-06, + "observation_loss": 9.186658644466661e-06, + "chamfer": 7.229248694784474e-06, + "track": 1.9574101770558627e-06, + "acceleration": 5.343492404108474e-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": 9.330421562481206e-06, + "observation_loss": 9.18730438570492e-06, + "chamfer": 7.205570909718517e-06, + "track": 1.9817339307337534e-06, + "acceleration": 1.4311761731278239e-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": 9.521658284938894e-06, + "observation_loss": 9.225462235917803e-06, + "chamfer": 7.2302746048080735e-06, + "track": 1.9951876311097294e-06, + "acceleration": 2.961962479730573e-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": 9.942770702764392e-06, + "observation_loss": 9.302102625952102e-06, + "chamfer": 7.256620847329032e-06, + "track": 2.045482005996746e-06, + "acceleration": 6.406678494386142e-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": 1.026037716655992e-05, + "observation_loss": 9.396898349223193e-06, + "chamfer": 7.3196451921830885e-06, + "track": 2.0772533844137797e-06, + "acceleration": 8.634791015538212e-07, + "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": 9.854396012087818e-06, + "observation_loss": 9.440132998861372e-06, + "chamfer": 7.346672646235675e-06, + "track": 2.0934608073730487e-06, + "acceleration": 4.1426264374422317e-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": 9.743092050484847e-06, + "observation_loss": 9.611433597456198e-06, + "chamfer": 7.467872819688637e-06, + "track": 2.1435607777675614e-06, + "acceleration": 1.3165886514343583e-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": 9.89365071291104e-06, + "observation_loss": 9.806497473618947e-06, + "chamfer": 7.587306299683405e-06, + "track": 2.2191914013092173e-06, + "acceleration": 8.715351640375957e-08, + "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": 1.0141872735403012e-05, + "observation_loss": 1.0084142559207976e-05, + "chamfer": 7.76000706537161e-06, + "track": 2.32413526646269e-06, + "acceleration": 5.77300625081989e-08, + "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": 1.0193753951170947e-05, + "observation_loss": 1.0146146451006643e-05, + "chamfer": 7.793780241627246e-06, + "track": 2.3523662093793973e-06, + "acceleration": 4.76072870014832e-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": 1.0323507012799382e-05, + "observation_loss": 1.0142753126274329e-05, + "chamfer": 7.776139682391658e-06, + "track": 2.366613216508995e-06, + "acceleration": 1.8075343177770264e-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": 1.0211516382696573e-05, + "observation_loss": 1.0109402865055017e-05, + "chamfer": 7.711038961133454e-06, + "track": 2.398364358668914e-06, + "acceleration": 1.0211386580749604e-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": 1.0126172128366306e-05, + "observation_loss": 1.0050593118648976e-05, + "chamfer": 7.646440280950628e-06, + "track": 2.404152837698348e-06, + "acceleration": 7.557923709100578e-08, + "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": 1.0147916327696294e-05, + "observation_loss": 9.916274393617641e-06, + "chamfer": 7.561281108792173e-06, + "track": 2.354993512199144e-06, + "acceleration": 2.3164189144608827e-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": 1.0297018889104947e-05, + "observation_loss": 9.724439223646186e-06, + "chamfer": 7.455981631210307e-06, + "track": 2.2684580471832305e-06, + "acceleration": 5.725799496758555e-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": 9.993471394409426e-06, + "observation_loss": 9.661944204708561e-06, + "chamfer": 7.411917977151461e-06, + "track": 2.2500257728097495e-06, + "acceleration": 3.3152710443573596e-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": 9.839831363933627e-06, + "observation_loss": 9.641125870984979e-06, + "chamfer": 7.405469659715891e-06, + "track": 2.2356564386427635e-06, + "acceleration": 1.9870591927428904e-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": 9.808513823372778e-06, + "observation_loss": 9.682471500127576e-06, + "chamfer": 7.439249202434439e-06, + "track": 2.243221842945786e-06, + "acceleration": 1.2604219534750882e-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": 9.852253242570441e-06, + "observation_loss": 9.782825145521201e-06, + "chamfer": 7.510118848585989e-06, + "track": 2.2727067516825628e-06, + "acceleration": 6.942814678723153e-08, + "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": 9.946615136868786e-06, + "observation_loss": 9.910923836287111e-06, + "chamfer": 7.589496817672625e-06, + "track": 2.3214274733618367e-06, + "acceleration": 3.5691236632828804e-08, + "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": 1.0091710464621428e-05, + "observation_loss": 1.0014411600423045e-05, + "chamfer": 7.623449619131861e-06, + "track": 2.3909615265438333e-06, + "acceleration": 7.729898499064802e-08, + "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": 1.032153068081243e-05, + "observation_loss": 1.0182029654970393e-05, + "chamfer": 7.702457878622226e-06, + "track": 2.4795713216008153e-06, + "acceleration": 1.395011537397295e-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": 1.0743677194113843e-05, + "observation_loss": 1.0546575140324421e-05, + "chamfer": 7.88517627370311e-06, + "track": 2.661398411873961e-06, + "acceleration": 1.971017695723276e-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": 1.1160015674249735e-05, + "observation_loss": 1.0933600606222171e-05, + "chamfer": 8.083243301371112e-06, + "track": 2.8503575322247343e-06, + "acceleration": 2.2641465591277665e-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": 1.1474427992652636e-05, + "observation_loss": 1.1289328540442511e-05, + "chamfer": 8.282043381768744e-06, + "track": 3.007285613421118e-06, + "acceleration": 1.8509912536046613e-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": 1.1570167771424167e-05, + "observation_loss": 1.146358044934459e-05, + "chamfer": 8.36299568618415e-06, + "track": 3.100584763160441e-06, + "acceleration": 1.065876986672265e-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": 1.1934682333958335e-05, + "observation_loss": 1.1713577805494424e-05, + "chamfer": 8.519341463397723e-06, + "track": 3.194236114723026e-06, + "acceleration": 2.2110413055997924e-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": 1.2268889804545324e-05, + "observation_loss": 1.2049464203300886e-05, + "chamfer": 8.716109732631594e-06, + "track": 3.333354015921941e-06, + "acceleration": 2.1942591388324217e-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": 1.2381343367451336e-05, + "observation_loss": 1.230009820574196e-05, + "chamfer": 8.853085091686808e-06, + "track": 3.447013114055153e-06, + "acceleration": 8.124484907057195e-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": 1.2482534657465294e-05, + "observation_loss": 1.2405844245222397e-05, + "chamfer": 8.901802175387274e-06, + "track": 3.5040416150877718e-06, + "acceleration": 7.669066093285437e-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": 1.2538822375063319e-05, + "observation_loss": 1.2470344699977431e-05, + "chamfer": 8.939056897361297e-06, + "track": 3.5312878026161343e-06, + "acceleration": 6.847749745020337e-08, + "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": 1.2544001037895214e-05, + "observation_loss": 1.2487960702856071e-05, + "chamfer": 8.923515451897401e-06, + "track": 3.5644454783323454e-06, + "acceleration": 5.6040111218180755e-08, + "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": 1.256116411241237e-05, + "observation_loss": 1.251196772500407e-05, + "chamfer": 8.91374747880036e-06, + "track": 3.598220473577385e-06, + "acceleration": 4.919639096101491e-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": 1.262656496692216e-05, + "observation_loss": 1.2492764653870836e-05, + "chamfer": 8.90972023626091e-06, + "track": 3.583044190236251e-06, + "acceleration": 1.338000998885036e-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": 1.258437168871751e-05, + "observation_loss": 1.2453339877538383e-05, + "chamfer": 8.887388503353577e-06, + "track": 3.5659516015584813e-06, + "acceleration": 1.3103175433570868e-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": 1.244454051629873e-05, + "observation_loss": 1.242661164724268e-05, + "chamfer": 8.858099135977682e-06, + "track": 3.5685129660123494e-06, + "acceleration": 1.79289667556759e-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": 1.2446126675058622e-05, + "observation_loss": 1.239225639437791e-05, + "chamfer": 8.824710675980896e-06, + "track": 3.567545263649663e-06, + "acceleration": 5.387005685975055e-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": 1.2477299605961889e-05, + "observation_loss": 1.236299067386426e-05, + "chamfer": 8.798428098089062e-06, + "track": 3.564562348401523e-06, + "acceleration": 1.1430930868527867e-07, + "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": 1.2371376215014607e-05, + "observation_loss": 1.2262605196156073e-05, + "chamfer": 8.743730177229736e-06, + "track": 3.518875246300013e-06, + "acceleration": 1.0877125333763615e-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": 1.211511334986426e-05, + "observation_loss": 1.2073629477526993e-05, + "chamfer": 8.641171007184312e-06, + "track": 3.4324586977163563e-06, + "acceleration": 4.148358456745882e-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": 9.636667539799268e-06, + "chamfer_mean": 6.665000751600776e-06, + "track_mean": 1.9362919149538507e-06, + "acceleration_mean": 1.0353749084202057e-06, + "observation_score": 8.601292639317156e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4298103049986821 + }, + "score_arrays_file": "pass_scores/pass_end_0125.npz", + "score_arrays_sha256": "879aa3606e680be0deaf84264edc7e3af9d83c6d9421c912f130945c2513cdf4" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0126.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0126.json new file mode 100644 index 0000000000000000000000000000000000000000..fa1d4b29e1f7c55e8ddb952859aa345db8af83f1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0126.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12096, + "completed_passes": 126, + "snapshot": "pass_end_0126", + "candidate": true, + "snapshot_arrays_sha256": "78f5dc1670b8a46d2ab5e4f0138197affab1ee4f30b36a6b7ae262a1e892e382", + "score": 8.590551009509303e-06, + "score_result": { + "score": 8.590551009509303e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9646430448337924e-06, + 3.346980975038605e-06, + 3.783619376918068e-06, + 4.7443095354537945e-06, + 5.647548277920578e-06, + 6.088737791287713e-06, + 6.147171916381922e-06, + 5.9871681514778174e-06, + 5.789442184322979e-06, + 5.723652066080831e-06, + 5.85448469792027e-06, + 6.066230525902938e-06, + 6.295464572758647e-06, + 6.4866153479670174e-06, + 6.614690846618032e-06, + 6.746648068656214e-06, + 6.6320080804871395e-06, + 6.348609076667344e-06, + 6.159403710626066e-06, + 6.144684448372573e-06, + 6.160312295833137e-06, + 6.047080660209758e-06, + 5.794141998194391e-06, + 5.672524366673315e-06, + 5.867475465493044e-06, + 6.2555800468544476e-06, + 6.53483266432886e-06, + 6.644659606536152e-06, + 6.580165972991381e-06, + 6.443142410716973e-06, + 6.343598670355277e-06, + 6.412576112779789e-06, + 6.557306278409669e-06, + 6.838007720944006e-06, + 7.081675903464202e-06, + 7.4216886787326075e-06, + 7.716334039287176e-06, + 7.777167411404662e-06, + 7.732894118817057e-06, + 7.865000043238979e-06, + 8.236268513428513e-06, + 8.57307077239966e-06, + 8.70866915647639e-06, + 8.856847671268042e-06, + 8.890000572137069e-06, + 8.86706493474776e-06, + 8.83724533196073e-06, + 9.158430657407735e-06, + 9.740937457536347e-06, + 1.0189997738052625e-05, + 1.0016372471000068e-05, + 9.6676585599198e-06, + 9.406538993061986e-06, + 9.149270226771478e-06, + 9.113308806263376e-06, + 9.16894987312844e-06, + 9.173420039587654e-06, + 9.173728358291555e-06, + 9.212372788169887e-06, + 9.29012821870856e-06, + 9.385901648784056e-06, + 9.431188118469436e-06, + 9.606526873540133e-06, + 9.804700312088244e-06, + 1.008679646474775e-05, + 1.015193629427813e-05, + 1.0149782610824332e-05, + 1.0118609679921065e-05, + 1.0061298780783545e-05, + 9.927237442752812e-06, + 9.734359082358424e-06, + 9.670022336649708e-06, + 9.647899787523784e-06, + 9.686750672699418e-06, + 9.785696420294698e-06, + 9.912409950629808e-06, + 1.0014569852501154e-05, + 1.0181071047554724e-05, + 1.0543818461883347e-05, + 1.0930540156550705e-05, + 1.128708572650794e-05, + 1.1461362191766966e-05, + 1.1710565559042152e-05, + 1.2046599294990301e-05, + 1.2297516150283627e-05, + 1.2403053005982656e-05, + 1.2467521628423128e-05, + 1.2484493709052913e-05, + 1.2509116459114011e-05, + 1.2489283108152449e-05, + 1.2450313079170883e-05, + 1.2423570296959952e-05, + 1.2389564290060662e-05, + 1.2360767868813127e-05, + 1.2260421499377117e-05, + 1.2071988749084994e-05 + ] + ], + "episode_mean_losses": [ + 8.590551009509303e-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": 2.9646430448337924e-06, + "observation_loss": 2.9646430448337924e-06, + "chamfer": 2.5142653612419963e-06, + "track": 4.503777688569244e-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": 4.5240376493893564e-05, + "observation_loss": 3.346980975038605e-06, + "chamfer": 2.8310291781963315e-06, + "track": 5.159516831554356e-07, + "acceleration": 4.189339597360231e-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": 2.7554784537642263e-05, + "observation_loss": 3.783619376918068e-06, + "chamfer": 3.190868937963387e-06, + "track": 5.927505526415189e-07, + "acceleration": 2.3771164705976844e-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": 1.3092403605696745e-05, + "observation_loss": 4.7443095354537945e-06, + "chamfer": 3.941714567190502e-06, + "track": 8.025949682632927e-07, + "acceleration": 8.348094524990302e-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": 1.0034023944172077e-05, + "observation_loss": 5.647548277920578e-06, + "chamfer": 4.604386049322784e-06, + "track": 1.0431623422846314e-06, + "acceleration": 4.38647612099885e-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": 7.772814569761977e-06, + "observation_loss": 6.088737791287713e-06, + "chamfer": 4.894840913038934e-06, + "track": 1.193896878248779e-06, + "acceleration": 1.684077119534777e-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": 7.666308192710858e-06, + "observation_loss": 6.147171916381922e-06, + "chamfer": 4.909089511784259e-06, + "track": 1.238082177223987e-06, + "acceleration": 1.5191360489552608e-06, + "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": 6.647850113949971e-06, + "observation_loss": 5.9871681514778174e-06, + "chamfer": 4.782770702149719e-06, + "track": 1.2043976767017739e-06, + "acceleration": 6.606821330024104e-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": 6.612207926082192e-06, + "observation_loss": 5.789442184322979e-06, + "chamfer": 4.641597570298472e-06, + "track": 1.1478446140245069e-06, + "acceleration": 8.227655712289561e-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": 6.625504738622112e-06, + "observation_loss": 5.723652066080831e-06, + "chamfer": 4.617406830220716e-06, + "track": 1.1062450084864395e-06, + "acceleration": 9.018526725412812e-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": 6.424614184652455e-06, + "observation_loss": 5.85448469792027e-06, + "chamfer": 4.751316737383604e-06, + "track": 1.1031681879103417e-06, + "acceleration": 5.701292593585094e-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": 6.342374945234042e-06, + "observation_loss": 6.066230525902938e-06, + "chamfer": 4.935574452247238e-06, + "track": 1.1306559599688626e-06, + "acceleration": 2.7614439090939413e-07, + "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": 6.612758170376765e-06, + "observation_loss": 6.295464572758647e-06, + "chamfer": 5.139384938956937e-06, + "track": 1.1560795201148721e-06, + "acceleration": 3.172934839312802e-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": 7.03769137544441e-06, + "observation_loss": 6.4866153479670174e-06, + "chamfer": 5.308605068421457e-06, + "track": 1.178010506919236e-06, + "acceleration": 5.510760274773929e-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": 6.862936970719602e-06, + "observation_loss": 6.614690846618032e-06, + "chamfer": 5.423180482466705e-06, + "track": 1.191510364151327e-06, + "acceleration": 2.4824589672789443e-07, + "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": 6.885816674184753e-06, + "observation_loss": 6.746648068656214e-06, + "chamfer": 5.5366617743857205e-06, + "track": 1.2099861805836554e-06, + "acceleration": 1.391685628959749e-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": 6.876028692204272e-06, + "observation_loss": 6.6320080804871395e-06, + "chamfer": 5.44743215868948e-06, + "track": 1.1845756944239838e-06, + "acceleration": 2.4402052645200456e-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": 6.5904869188671e-06, + "observation_loss": 6.348609076667344e-06, + "chamfer": 5.2317850531835575e-06, + "track": 1.116823909796949e-06, + "acceleration": 2.418780127300124e-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": 6.302700057858601e-06, + "observation_loss": 6.159403710626066e-06, + "chamfer": 5.091994353279006e-06, + "track": 1.0674094710338977e-06, + "acceleration": 1.432962761782619e-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": 6.265522188186878e-06, + "observation_loss": 6.144684448372573e-06, + "chamfer": 5.0841526899603195e-06, + "track": 1.0605316447254154e-06, + "acceleration": 1.2083782507943397e-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": 6.341904281725874e-06, + "observation_loss": 6.160312295833137e-06, + "chamfer": 5.094681910122745e-06, + "track": 1.0656303857103921e-06, + "acceleration": 1.8159207115786558e-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": 6.22735160504817e-06, + "observation_loss": 6.047080660209758e-06, + "chamfer": 5.010740096622612e-06, + "track": 1.0363406772739836e-06, + "acceleration": 1.8027073167559138e-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": 5.9677140598068945e-06, + "observation_loss": 5.794141998194391e-06, + "chamfer": 4.816306045540841e-06, + "track": 9.778359526535496e-07, + "acceleration": 1.7357217529934132e-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": 5.802196028525941e-06, + "observation_loss": 5.672524366673315e-06, + "chamfer": 4.713438102044165e-06, + "track": 9.590862646291498e-07, + "acceleration": 1.296715339549337e-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": 5.997020707582124e-06, + "observation_loss": 5.867475465493044e-06, + "chamfer": 4.848737262364011e-06, + "track": 1.018738089442195e-06, + "acceleration": 1.2954541261933628e-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": 6.546993063238915e-06, + "observation_loss": 6.2555800468544476e-06, + "chamfer": 5.1302181418577675e-06, + "track": 1.12536190499668e-06, + "acceleration": 2.914131016495958e-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": 6.845854386483552e-06, + "observation_loss": 6.53483266432886e-06, + "chamfer": 5.329961823008489e-06, + "track": 1.2048707276335335e-06, + "acceleration": 3.1102175057640125e-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": 6.866333478683373e-06, + "observation_loss": 6.644659606536152e-06, + "chamfer": 5.415227406047052e-06, + "track": 1.2294323141759378e-06, + "acceleration": 2.2167392899063998e-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": 7.068277682265034e-06, + "observation_loss": 6.580165972991381e-06, + "chamfer": 5.372729447117308e-06, + "track": 1.207436412187235e-06, + "acceleration": 4.881117092736531e-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": 6.691884209431009e-06, + "observation_loss": 6.443142410716973e-06, + "chamfer": 5.272735961625585e-06, + "track": 1.1704066764650634e-06, + "acceleration": 2.4874165660548897e-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": 6.414372819563141e-06, + "observation_loss": 6.343598670355277e-06, + "chamfer": 5.201371550356271e-06, + "track": 1.1422271199990064e-06, + "acceleration": 7.077410657529981e-08, + "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": 6.459699761762749e-06, + "observation_loss": 6.412576112779789e-06, + "chamfer": 5.2597702051571105e-06, + "track": 1.152806021309516e-06, + "acceleration": 4.712346779456311e-08, + "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": 6.613369805563707e-06, + "observation_loss": 6.557306278409669e-06, + "chamfer": 5.376005447033094e-06, + "track": 1.1813009450634127e-06, + "acceleration": 5.6063626630020735e-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": 6.944067536096554e-06, + "observation_loss": 6.838007720944006e-06, + "chamfer": 5.583245183515828e-06, + "track": 1.2547627648018533e-06, + "acceleration": 1.0605985067968504e-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": 7.167868261603871e-06, + "observation_loss": 7.081675903464202e-06, + "chamfer": 5.76914362682146e-06, + "track": 1.3125322766427416e-06, + "acceleration": 8.619238656137895e-08, + "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": 7.56225972509128e-06, + "observation_loss": 7.4216886787326075e-06, + "chamfer": 6.021005447109928e-06, + "track": 1.4006834589963546e-06, + "acceleration": 1.405710463586729e-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": 7.772561730234884e-06, + "observation_loss": 7.716334039287176e-06, + "chamfer": 6.233457042981172e-06, + "track": 1.4828768826191663e-06, + "acceleration": 5.6227417388754475e-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": 8.142716978909448e-06, + "observation_loss": 7.777167411404662e-06, + "chamfer": 6.286412371991901e-06, + "track": 1.4907551530995988e-06, + "acceleration": 3.6554911275743507e-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": 7.87046883488074e-06, + "observation_loss": 7.732894118817057e-06, + "chamfer": 6.275359282881254e-06, + "track": 1.4575346085621277e-06, + "acceleration": 1.375743607923141e-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": 8.055062608036678e-06, + "observation_loss": 7.865000043238979e-06, + "chamfer": 6.376285455189645e-06, + "track": 1.4887149291098467e-06, + "acceleration": 1.9006277796052018e-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": 8.475157301290892e-06, + "observation_loss": 8.236268513428513e-06, + "chamfer": 6.63924674881855e-06, + "track": 1.597021650923125e-06, + "acceleration": 2.388887878623791e-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": 8.732715286896564e-06, + "observation_loss": 8.57307077239966e-06, + "chamfer": 6.8709573497471865e-06, + "track": 1.7021134226524737e-06, + "acceleration": 1.5964452870775858e-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": 8.805090146779548e-06, + "observation_loss": 8.70866915647639e-06, + "chamfer": 6.947132533241529e-06, + "track": 1.7615365095480229e-06, + "acceleration": 9.642090503803047e-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": 8.908041309041437e-06, + "observation_loss": 8.856847671268042e-06, + "chamfer": 7.041001026664162e-06, + "track": 1.8158469856643933e-06, + "acceleration": 5.1194081862604435e-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": 8.971804163593333e-06, + "observation_loss": 8.890000572137069e-06, + "chamfer": 7.058252322167391e-06, + "track": 1.8317484773433534e-06, + "acceleration": 8.180371224852934e-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": 8.953495125751942e-06, + "observation_loss": 8.86706493474776e-06, + "chamfer": 7.041366188786924e-06, + "track": 1.8256984049003222e-06, + "acceleration": 8.643056048640574e-08, + "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": 9.040119948622305e-06, + "observation_loss": 8.83724533196073e-06, + "chamfer": 7.016703875706298e-06, + "track": 1.820541456254432e-06, + "acceleration": 2.028746308724294e-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": 9.289075933338609e-06, + "observation_loss": 9.158430657407735e-06, + "chamfer": 7.232014922919916e-06, + "track": 1.926415507114143e-06, + "acceleration": 1.3064537540685706e-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": 9.823849723034073e-06, + "observation_loss": 9.740937457536347e-06, + "chamfer": 7.607141924381722e-06, + "track": 2.133795760528301e-06, + "acceleration": 8.291251418768297e-08, + "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": 1.0448466127854772e-05, + "observation_loss": 1.0189997738052625e-05, + "chamfer": 7.906869541329797e-06, + "track": 2.2831279693491524e-06, + "acceleration": 2.584688445494976e-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": 1.0149241461476777e-05, + "observation_loss": 1.0016372471000068e-05, + "chamfer": 7.795773854013532e-06, + "track": 2.220598844360211e-06, + "acceleration": 1.3286894784414471e-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": 9.836602657742333e-06, + "observation_loss": 9.6676585599198e-06, + "chamfer": 7.578716576972511e-06, + "track": 2.0889422103209654e-06, + "acceleration": 1.6894445309389994e-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": 9.451627192902379e-06, + "observation_loss": 9.406538993061986e-06, + "chamfer": 7.410046691802563e-06, + "track": 1.9964920738857472e-06, + "acceleration": 4.508821760396131e-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": 9.202333785651717e-06, + "observation_loss": 9.149270226771478e-06, + "chamfer": 7.221464329631999e-06, + "track": 1.9278058971394785e-06, + "acceleration": 5.306360151280387e-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": 9.175373634207062e-06, + "observation_loss": 9.113308806263376e-06, + "chamfer": 7.188582458184101e-06, + "track": 1.9247263480792753e-06, + "acceleration": 6.206465030800246e-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": 9.250355105905328e-06, + "observation_loss": 9.16894987312844e-06, + "chamfer": 7.221091891551623e-06, + "track": 1.9478577542031417e-06, + "acceleration": 8.140511198462264e-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": 9.224798304785509e-06, + "observation_loss": 9.173420039587654e-06, + "chamfer": 7.220119641715428e-06, + "track": 1.953300170498551e-06, + "acceleration": 5.1378126642021016e-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": 9.31624435906997e-06, + "observation_loss": 9.173728358291555e-06, + "chamfer": 7.196247679530643e-06, + "track": 1.9774809061345877e-06, + "acceleration": 1.4251602920012374e-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": 9.506651622359641e-06, + "observation_loss": 9.212372788169887e-06, + "chamfer": 7.221452506200876e-06, + "track": 1.990920281969011e-06, + "acceleration": 2.9427843628582195e-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": 9.929520274454262e-06, + "observation_loss": 9.29012821870856e-06, + "chamfer": 7.248776910273591e-06, + "track": 2.0413517631823197e-06, + "acceleration": 6.393919420588645e-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": 1.0251581443299074e-05, + "observation_loss": 9.385901648784056e-06, + "chamfer": 7.312581146834418e-06, + "track": 2.073320956696989e-06, + "acceleration": 8.65679965045274e-07, + "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": 9.848794434219599e-06, + "observation_loss": 9.431188118469436e-06, + "chamfer": 7.341192485910142e-06, + "track": 2.0899954051856184e-06, + "acceleration": 4.1760623048503476e-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": 9.738502740219701e-06, + "observation_loss": 9.606526873540133e-06, + "chamfer": 7.4651543400250375e-06, + "track": 2.141372760888771e-06, + "acceleration": 1.3197625037264515e-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": 9.890672117762733e-06, + "observation_loss": 9.804700312088244e-06, + "chamfer": 7.586242190882331e-06, + "track": 2.2184583485795883e-06, + "acceleration": 8.597189093961788e-08, + "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": 1.0142711289518047e-05, + "observation_loss": 1.008679646474775e-05, + "chamfer": 7.761995220789686e-06, + "track": 2.324801471331739e-06, + "acceleration": 5.5915155172669984e-08, + "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": 1.0198391464655288e-05, + "observation_loss": 1.015193629427813e-05, + "chamfer": 7.797695616318379e-06, + "track": 2.354240450586076e-06, + "acceleration": 4.645486129106757e-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": 1.033214994095033e-05, + "observation_loss": 1.0149782610824332e-05, + "chamfer": 7.780975465720985e-06, + "track": 2.3688075998506974e-06, + "acceleration": 1.823671311740327e-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": 1.0221392585663125e-05, + "observation_loss": 1.0118609679921065e-05, + "chamfer": 7.717534572293516e-06, + "track": 2.4010753350012237e-06, + "acceleration": 1.0278275652808588e-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": 1.0136768651136663e-05, + "observation_loss": 1.0061298780783545e-05, + "chamfer": 7.653969987586606e-06, + "track": 2.4073285658232635e-06, + "acceleration": 7.546966429572421e-08, + "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": 1.0160002602788154e-05, + "observation_loss": 9.927237442752812e-06, + "chamfer": 7.568926321255276e-06, + "track": 2.3583113488712115e-06, + "acceleration": 2.3276558636098343e-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": 1.030836756399367e-05, + "observation_loss": 9.734359082358424e-06, + "chamfer": 7.462938810931519e-06, + "track": 2.271420271426905e-06, + "acceleration": 5.740084247918276e-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": 1.0003236639022361e-05, + "observation_loss": 9.670022336649708e-06, + "chamfer": 7.417182132485323e-06, + "track": 2.252840204164386e-06, + "acceleration": 3.3321467185487563e-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": 9.848115951172076e-06, + "observation_loss": 9.647899787523784e-06, + "chamfer": 7.409697900584433e-06, + "track": 2.2382014321919996e-06, + "acceleration": 2.0021617785914714e-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": 9.816344572755042e-06, + "observation_loss": 9.686750672699418e-06, + "chamfer": 7.441710295097437e-06, + "track": 2.2450401502283057e-06, + "acceleration": 1.295935874168208e-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": 9.856559699983336e-06, + "observation_loss": 9.785696420294698e-06, + "chamfer": 7.511800049542217e-06, + "track": 2.2738963707524817e-06, + "acceleration": 7.086323705607356e-08, + "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": 9.948074875865132e-06, + "observation_loss": 9.912409950629808e-06, + "chamfer": 7.590338555019116e-06, + "track": 2.322071395610692e-06, + "acceleration": 3.5664633912801946e-08, + "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": 1.0093494893226307e-05, + "observation_loss": 1.0014569852501154e-05, + "chamfer": 7.623401870660018e-06, + "track": 2.3911682092148112e-06, + "acceleration": 7.892506914686237e-08, + "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": 1.0323035894543864e-05, + "observation_loss": 1.0181071047554724e-05, + "chamfer": 7.70183942222502e-06, + "track": 2.4792318527033785e-06, + "acceleration": 1.4196466224802862e-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": 1.0740882316895295e-05, + "observation_loss": 1.0543818461883347e-05, + "chamfer": 7.883177204348613e-06, + "track": 2.660641257534735e-06, + "acceleration": 1.9706421028331533e-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": 1.1157072549394798e-05, + "observation_loss": 1.0930540156550705e-05, + "chamfer": 8.0810823419597e-06, + "track": 2.849458041964681e-06, + "acceleration": 2.2653273390460527e-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": 1.1473836821096484e-05, + "observation_loss": 1.128708572650794e-05, + "chamfer": 8.280439942609519e-06, + "track": 3.006645556524745e-06, + "acceleration": 1.8675065405204805e-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": 1.1567386536626145e-05, + "observation_loss": 1.1461362191766966e-05, + "chamfer": 8.36154413264012e-06, + "track": 3.0998180591268465e-06, + "acceleration": 1.0602474276311113e-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": 1.1936322152905632e-05, + "observation_loss": 1.1710565559042152e-05, + "chamfer": 8.51745244290214e-06, + "track": 3.1931128887663363e-06, + "acceleration": 2.2575646596578736e-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": 1.2268300451978575e-05, + "observation_loss": 1.2046599294990301e-05, + "chamfer": 8.714826435607392e-06, + "track": 3.331772404635558e-06, + "acceleration": 2.2170155489220633e-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": 1.2379553481878247e-05, + "observation_loss": 1.2297516150283627e-05, + "chamfer": 8.851852726365905e-06, + "track": 3.445663878665073e-06, + "acceleration": 8.203711132637181e-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": 1.2479340512072667e-05, + "observation_loss": 1.2403053005982656e-05, + "chamfer": 8.900698958314024e-06, + "track": 3.5023542750423076e-06, + "acceleration": 7.628753451172088e-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": 1.2535659152490553e-05, + "observation_loss": 1.2467521628423128e-05, + "chamfer": 8.938087376009207e-06, + "track": 3.529434252413921e-06, + "acceleration": 6.81372966937488e-08, + "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": 1.2540338502731174e-05, + "observation_loss": 1.2484493709052913e-05, + "chamfer": 8.921987500798423e-06, + "track": 3.5625059808808146e-06, + "acceleration": 5.584485407439388e-08, + "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": 1.255816277989652e-05, + "observation_loss": 1.2509116459114011e-05, + "chamfer": 8.912692464946304e-06, + "track": 3.5964242215413833e-06, + "acceleration": 4.9046310124367665e-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": 1.2623760994756594e-05, + "observation_loss": 1.2489283108152449e-05, + "chamfer": 8.908134077501018e-06, + "track": 3.581149258025107e-06, + "acceleration": 1.3447827029722248e-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": 1.2583543139044195e-05, + "observation_loss": 1.2450313079170883e-05, + "chamfer": 8.886058822099585e-06, + "track": 3.5642547118186485e-06, + "acceleration": 1.3323025882527872e-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": 1.2443109881132841e-05, + "observation_loss": 1.2423570296959952e-05, + "chamfer": 8.856910426402465e-06, + "track": 3.566660325304838e-06, + "acceleration": 1.9539251994160622e-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": 1.2444900676200632e-05, + "observation_loss": 1.2389564290060662e-05, + "chamfer": 8.823701136861928e-06, + "track": 3.5658629258250585e-06, + "acceleration": 5.533646074695753e-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": 1.2477010386646725e-05, + "observation_loss": 1.2360767868813127e-05, + "chamfer": 8.79772414918989e-06, + "track": 3.563043264875887e-06, + "acceleration": 1.1624219808936687e-07, + "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": 1.237037213286385e-05, + "observation_loss": 1.2260421499377117e-05, + "chamfer": 8.74287525221007e-06, + "track": 3.517546701914398e-06, + "acceleration": 1.0995017873938195e-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": 1.2113873708585743e-05, + "observation_loss": 1.2071988749084994e-05, + "chamfer": 8.640591659059282e-06, + "track": 3.4313975447730627e-06, + "acceleration": 4.188496305346234e-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": 9.625750124087062e-06, + "chamfer_mean": 6.657217307785383e-06, + "track_mean": 1.933333736954997e-06, + "acceleration_mean": 1.0351991231449809e-06, + "observation_score": 8.590551009509303e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4356544839993148 + }, + "score_arrays_file": "pass_scores/pass_end_0126.npz", + "score_arrays_sha256": "db7ee3ab57f0b66c8c69222935d37b79285111f3dbb7f7bc37f29a985d07bcb0" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0127.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0127.json new file mode 100644 index 0000000000000000000000000000000000000000..b1f8da3a8c44039990bb81165dd5f2329d797242 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0127.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12192, + "completed_passes": 127, + "snapshot": "pass_end_0127", + "candidate": true, + "snapshot_arrays_sha256": "eaf92c3e211b368de6598be3f17f59ac08ece7d635bfd773a02d68fafd9c7f46", + "score": 8.578984633800246e-06, + "score_result": { + "score": 8.578984633800246e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.963655333587667e-06, + 3.344336164445849e-06, + 3.777119673031848e-06, + 4.730649379780516e-06, + 5.631690328300465e-06, + 6.070328709029127e-06, + 6.127233064034954e-06, + 5.969374797132332e-06, + 5.772109034296591e-06, + 5.7096717682725284e-06, + 5.841643542225938e-06, + 6.050038336979924e-06, + 6.282778485910967e-06, + 6.470300832006615e-06, + 6.599221705982927e-06, + 6.731318535457831e-06, + 6.613818186451681e-06, + 6.33058562016231e-06, + 6.14158989264979e-06, + 6.125675099610817e-06, + 6.141202902654186e-06, + 6.027335984981619e-06, + 5.7748056860873476e-06, + 5.652931577060372e-06, + 5.846599378855899e-06, + 6.233285603229888e-06, + 6.513213520520367e-06, + 6.624404250032967e-06, + 6.562246198882349e-06, + 6.42714076093398e-06, + 6.327824848995078e-06, + 6.397822289727628e-06, + 6.543308700202033e-06, + 6.823571311542764e-06, + 7.066544185363455e-06, + 7.40526911613415e-06, + 7.700158676016144e-06, + 7.759676918794867e-06, + 7.714032108196989e-06, + 7.845395884942263e-06, + 8.216415153583512e-06, + 8.55486450745957e-06, + 8.690393769938964e-06, + 8.839089787215926e-06, + 8.873622391547542e-06, + 8.851256097841542e-06, + 8.822104973660316e-06, + 9.147088348981924e-06, + 9.73394162429031e-06, + 1.0183652193518355e-05, + 1.0010878213506658e-05, + 9.660223440732807e-06, + 9.398931069881655e-06, + 9.138982022705022e-06, + 9.09861864784034e-06, + 9.153231076197699e-06, + 9.158008651866112e-06, + 9.157505701296031e-06, + 9.196248356602155e-06, + 9.275347110815346e-06, + 9.372459317091852e-06, + 9.420913556823507e-06, + 9.601476449461188e-06, + 9.803487046156079e-06, + 1.0090847354149446e-05, + 1.0158390978176612e-05, + 1.0156909411307424e-05, + 1.012676875689067e-05, + 1.0070434655062854e-05, + 9.934911759046372e-06, + 9.738367225509137e-06, + 9.670719009591267e-06, + 9.646462785894983e-06, + 9.681940355221741e-06, + 9.778581443242729e-06, + 9.902990314003546e-06, + 1.0004438081523404e-05, + 1.0170557288802229e-05, + 1.0532858141232282e-05, + 1.092013917514123e-05, + 1.1277683370281011e-05, + 1.14532231236808e-05, + 1.1701459698088001e-05, + 1.2036861335218418e-05, + 1.2289019650779665e-05, + 1.2394393706927076e-05, + 1.2458025594241917e-05, + 1.2474651157390326e-05, + 1.2500122466008179e-05, + 1.2479627912398428e-05, + 1.2440562386473175e-05, + 1.2414301636454184e-05, + 1.2380663974909112e-05, + 1.2351871191640384e-05, + 1.2252069609530736e-05, + 1.2064023394486867e-05 + ] + ], + "episode_mean_losses": [ + 8.578984633800246e-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": 2.963655333587667e-06, + "observation_loss": 2.963655333587667e-06, + "chamfer": 2.513445906515699e-06, + "track": 4.5020937022854923e-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": 4.516791886999272e-05, + "observation_loss": 3.344336164445849e-06, + "chamfer": 2.8288259272812866e-06, + "track": 5.155102371645626e-07, + "acceleration": 4.182358316029422e-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": 2.7502625016495585e-05, + "observation_loss": 3.777119673031848e-06, + "chamfer": 3.185601144650718e-06, + "track": 5.915185283811297e-07, + "acceleration": 2.372550625295844e-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": 1.3060048331681173e-05, + "observation_loss": 4.730649379780516e-06, + "chamfer": 3.931388164346572e-06, + "track": 7.992609880602686e-07, + "acceleration": 8.329398951900657e-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": 1.0020858098869212e-05, + "observation_loss": 5.631690328300465e-06, + "chamfer": 4.593567609845195e-06, + "track": 1.0381226047684322e-06, + "acceleration": 4.389167770568747e-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": 7.755123988317791e-06, + "observation_loss": 6.070328709029127e-06, + "chamfer": 4.8829097067937255e-06, + "track": 1.1874190022354014e-06, + "acceleration": 1.68479550666234e-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": 7.616498805873562e-06, + "observation_loss": 6.127233064034954e-06, + "chamfer": 4.896121936326381e-06, + "track": 1.231111127708573e-06, + "acceleration": 1.4892656281517702e-06, + "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": 6.61382273392519e-06, + "observation_loss": 5.969374797132332e-06, + "chamfer": 4.771183284901781e-06, + "track": 1.1981917396042263e-06, + "acceleration": 6.444478231060202e-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": 6.609580850636121e-06, + "observation_loss": 5.772109034296591e-06, + "chamfer": 4.630240255210083e-06, + "track": 1.1418690064601833e-06, + "acceleration": 8.374717026526923e-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": 6.617166036448907e-06, + "observation_loss": 5.7096717682725284e-06, + "chamfer": 4.6082768676569685e-06, + "track": 1.1013949006155599e-06, + "acceleration": 9.074940976461221e-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": 6.3885927374940366e-06, + "observation_loss": 5.841643542225938e-06, + "chamfer": 4.742920737044187e-06, + "track": 1.0987230325554265e-06, + "acceleration": 5.469490247378417e-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": 6.326822131086374e-06, + "observation_loss": 6.050038336979924e-06, + "chamfer": 4.9242603381571826e-06, + "track": 1.1257778851359035e-06, + "acceleration": 2.7678379410644993e-07, + "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": 6.6696338762994856e-06, + "observation_loss": 6.282778485910967e-06, + "chamfer": 5.130731096869567e-06, + "track": 1.152047616415075e-06, + "acceleration": 3.868552482799714e-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": 7.046320661174832e-06, + "observation_loss": 6.470300832006615e-06, + "chamfer": 5.296709787216969e-06, + "track": 1.1735910447896458e-06, + "acceleration": 5.760196586379607e-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": 6.806817509641405e-06, + "observation_loss": 6.599221705982927e-06, + "chamfer": 5.411903657659423e-06, + "track": 1.1873181620103423e-06, + "acceleration": 2.0759578944762325e-07, + "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": 6.897430466779042e-06, + "observation_loss": 6.731318535457831e-06, + "chamfer": 5.52543224330293e-06, + "track": 1.205886178468063e-06, + "acceleration": 1.661121586948866e-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": 6.873082384117879e-06, + "observation_loss": 6.613818186451681e-06, + "chamfer": 5.433776550489711e-06, + "track": 1.1800414085882949e-06, + "acceleration": 2.59263998714232e-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": 6.572478469024645e-06, + "observation_loss": 6.33058562016231e-06, + "chamfer": 5.218050318944734e-06, + "track": 1.1125354149044142e-06, + "acceleration": 2.4189290570575395e-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": 6.286079042183701e-06, + "observation_loss": 6.14158989264979e-06, + "chamfer": 5.078281446913024e-06, + "track": 1.0633083320499281e-06, + "acceleration": 1.4448933427502197e-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": 6.246330030990066e-06, + "observation_loss": 6.125675099610817e-06, + "chamfer": 5.069382041256176e-06, + "track": 1.056293172041478e-06, + "acceleration": 1.2065493137924932e-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": 6.324558398773661e-06, + "observation_loss": 6.141202902654186e-06, + "chamfer": 5.079880793346092e-06, + "track": 1.0613223366817692e-06, + "acceleration": 1.8335542506520142e-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": 6.2111853367241565e-06, + "observation_loss": 6.027335984981619e-06, + "chamfer": 4.995293693355052e-06, + "track": 1.0320424053134047e-06, + "acceleration": 1.838491670014264e-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": 5.950419563305331e-06, + "observation_loss": 5.7748056860873476e-06, + "chamfer": 4.800983333552722e-06, + "track": 9.738223525346257e-07, + "acceleration": 1.756137635311461e-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": 5.781763775303261e-06, + "observation_loss": 5.652931577060372e-06, + "chamfer": 4.697752956417389e-06, + "track": 9.55178393269307e-07, + "acceleration": 1.28831985080069e-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": 5.975794465484796e-06, + "observation_loss": 5.846599378855899e-06, + "chamfer": 4.832217655348359e-06, + "track": 1.014381837194378e-06, + "acceleration": 1.2919528558086313e-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": 6.52753806207329e-06, + "observation_loss": 6.233285603229888e-06, + "chamfer": 5.11289044879959e-06, + "track": 1.1203952681171359e-06, + "acceleration": 2.9425225989143655e-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": 6.8275357989477925e-06, + "observation_loss": 6.513213520520367e-06, + "chamfer": 5.313266228768043e-06, + "track": 1.199947519125999e-06, + "acceleration": 3.143223068491352e-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": 6.848347766208462e-06, + "observation_loss": 6.624404250032967e-06, + "chamfer": 5.399486326496117e-06, + "track": 1.2249180372236879e-06, + "acceleration": 2.2394358722976904e-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": 7.052237833704567e-06, + "observation_loss": 6.562246198882349e-06, + "chamfer": 5.358703219826566e-06, + "track": 1.203542865368945e-06, + "acceleration": 4.899915779787989e-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": 6.674621999991359e-06, + "observation_loss": 6.42714076093398e-06, + "chamfer": 5.26004168932559e-06, + "track": 1.1670990716083907e-06, + "acceleration": 2.474812959007977e-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": 6.39831068838248e-06, + "observation_loss": 6.327824848995078e-06, + "chamfer": 5.188819159229752e-06, + "track": 1.139005576078489e-06, + "acceleration": 7.048600281223116e-08, + "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": 6.444432528951438e-06, + "observation_loss": 6.397822289727628e-06, + "chamfer": 5.247979970590677e-06, + "track": 1.1498422054501134e-06, + "acceleration": 4.661037067421603e-08, + "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": 6.599483185709687e-06, + "observation_loss": 6.543308700202033e-06, + "chamfer": 5.364786375139374e-06, + "track": 1.178522552436334e-06, + "acceleration": 5.617430076654273e-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": 6.930109975655796e-06, + "observation_loss": 6.823571311542764e-06, + "chamfer": 5.571787824010244e-06, + "track": 1.251783373845683e-06, + "acceleration": 1.0653874227273263e-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": 7.152201760618482e-06, + "observation_loss": 7.066544185363455e-06, + "chamfer": 5.757264716521604e-06, + "track": 1.309279355155013e-06, + "acceleration": 8.565747577904403e-08, + "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": 7.544662821601378e-06, + "observation_loss": 7.40526911613415e-06, + "chamfer": 6.00827888774802e-06, + "track": 1.3969902283861302e-06, + "acceleration": 1.3939354914782598e-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": 7.756494596833363e-06, + "observation_loss": 7.700158676016144e-06, + "chamfer": 6.221088369784411e-06, + "track": 1.4790703062317334e-06, + "acceleration": 5.6335935028073436e-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": 8.126206012093462e-06, + "observation_loss": 7.759676918794867e-06, + "chamfer": 6.273316557781072e-06, + "track": 1.4863601336401189e-06, + "acceleration": 3.665290932985954e-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": 7.853111128497403e-06, + "observation_loss": 7.714032108196989e-06, + "chamfer": 6.261138878471684e-06, + "track": 1.4528934570989804e-06, + "acceleration": 1.3907859397477296e-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": 8.036347026063595e-06, + "observation_loss": 7.845395884942263e-06, + "chamfer": 6.361839950841386e-06, + "track": 1.4835555930403643e-06, + "acceleration": 1.9095109848876746e-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": 8.458647243969608e-06, + "observation_loss": 8.216415153583512e-06, + "chamfer": 6.624848992942134e-06, + "track": 1.5915662743282155e-06, + "acceleration": 2.422320903860964e-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": 8.71732390805846e-06, + "observation_loss": 8.55486450745957e-06, + "chamfer": 6.8578319769585505e-06, + "track": 1.6970327578746947e-06, + "acceleration": 1.6245972744854953e-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": 8.787367733020801e-06, + "observation_loss": 8.690393769938964e-06, + "chamfer": 6.9338211687863804e-06, + "track": 1.756572601152584e-06, + "acceleration": 9.697422598264893e-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": 8.889384844223969e-06, + "observation_loss": 8.839089787215926e-06, + "chamfer": 7.02827765053371e-06, + "track": 1.8108116819348652e-06, + "acceleration": 5.0294719500243446e-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": 8.955759767559357e-06, + "observation_loss": 8.873622391547542e-06, + "chamfer": 7.046456630632747e-06, + "track": 1.8271661019753083e-06, + "acceleration": 8.213732627382342e-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": 8.93886863195803e-06, + "observation_loss": 8.851256097841542e-06, + "chamfer": 7.029940206848551e-06, + "track": 1.8213155499324785e-06, + "acceleration": 8.761293912584733e-08, + "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": 9.025988219946157e-06, + "observation_loss": 8.822104973660316e-06, + "chamfer": 7.005617590039037e-06, + "track": 1.8164876109949546e-06, + "acceleration": 2.0388301891216543e-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": 9.279003279516473e-06, + "observation_loss": 9.147088348981924e-06, + "chamfer": 7.223646207421552e-06, + "track": 1.923442596307723e-06, + "acceleration": 1.3191453263061703e-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": 9.818066246225499e-06, + "observation_loss": 9.73394162429031e-06, + "chamfer": 7.601907327625668e-06, + "track": 2.132034751411993e-06, + "acceleration": 8.412496299570194e-08, + "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": 1.0442703569424339e-05, + "observation_loss": 1.0183652193518355e-05, + "chamfer": 7.90209469414549e-06, + "track": 2.2815577267465414e-06, + "acceleration": 2.59051631701368e-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": 1.0143950021301862e-05, + "observation_loss": 1.0010878213506658e-05, + "chamfer": 7.791608368279412e-06, + "track": 2.21926961785357e-06, + "acceleration": 1.330718788494778e-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": 9.826703717408236e-06, + "observation_loss": 9.660223440732807e-06, + "chamfer": 7.5730458775069565e-06, + "track": 2.087177790599526e-06, + "acceleration": 1.664805608925235e-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": 9.44213752518408e-06, + "observation_loss": 9.398931069881655e-06, + "chamfer": 7.4045779001608025e-06, + "track": 1.994353397094528e-06, + "acceleration": 4.320673951951903e-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": 9.191552635456901e-06, + "observation_loss": 9.138982022705022e-06, + "chamfer": 7.214317975012818e-06, + "track": 1.9246642750658793e-06, + "acceleration": 5.257039603634439e-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": 9.159799446933903e-06, + "observation_loss": 9.09861864784034e-06, + "chamfer": 7.178349278547103e-06, + "track": 1.9202695966669125e-06, + "acceleration": 6.118054329817824e-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": 9.233338460035156e-06, + "observation_loss": 9.153231076197699e-06, + "chamfer": 7.210115199995926e-06, + "track": 1.9431156488280976e-06, + "acceleration": 8.010772489797091e-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": 9.208103620039765e-06, + "observation_loss": 9.158008651866112e-06, + "chamfer": 7.209405339381192e-06, + "track": 1.9486035398585955e-06, + "acceleration": 5.009520620546937e-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": 9.298465556639712e-06, + "observation_loss": 9.157505701296031e-06, + "chamfer": 7.184977221186273e-06, + "track": 1.972528025362408e-06, + "acceleration": 1.4096004008479213e-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": 9.488750947639346e-06, + "observation_loss": 9.196248356602155e-06, + "chamfer": 7.210442163341213e-06, + "track": 1.985806420634617e-06, + "acceleration": 2.9250222155496886e-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": 9.915358532452956e-06, + "observation_loss": 9.275347110815346e-06, + "chamfer": 7.238954822241794e-06, + "track": 2.036392743320903e-06, + "acceleration": 6.400117058547039e-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": 1.0242737516819034e-05, + "observation_loss": 9.372459317091852e-06, + "chamfer": 7.303734491870273e-06, + "track": 2.0687243704742286e-06, + "acceleration": 8.702783702574379e-07, + "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": 9.842973668128252e-06, + "observation_loss": 9.420913556823507e-06, + "chamfer": 7.334883321163943e-06, + "track": 2.086029780912213e-06, + "acceleration": 4.220598555093602e-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": 9.733728802530095e-06, + "observation_loss": 9.601476449461188e-06, + "chamfer": 7.462263511115452e-06, + "track": 2.139212938345736e-06, + "acceleration": 1.322527083402747e-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": 9.887725354928989e-06, + "observation_loss": 9.803487046156079e-06, + "chamfer": 7.58533906264347e-06, + "track": 2.2181484382599592e-06, + "acceleration": 8.423862851714148e-08, + "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": 1.014570352708688e-05, + "observation_loss": 1.0090847354149446e-05, + "chamfer": 7.764846486679744e-06, + "track": 2.326000412722351e-06, + "acceleration": 5.4856446496387434e-08, + "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": 1.0204019417869858e-05, + "observation_loss": 1.0158390978176612e-05, + "chamfer": 7.80193386162864e-06, + "track": 2.3564573439216474e-06, + "acceleration": 4.562875943747713e-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": 1.0340073458792176e-05, + "observation_loss": 1.0156909411307424e-05, + "chamfer": 7.785862180753611e-06, + "track": 2.371047685301164e-06, + "acceleration": 1.831636922133839e-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": 1.0229974577669054e-05, + "observation_loss": 1.012676875689067e-05, + "chamfer": 7.723238923063036e-06, + "track": 2.4035293790802825e-06, + "acceleration": 1.0320569288069237e-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": 1.0145624401047826e-05, + "observation_loss": 1.0070434655062854e-05, + "chamfer": 7.660491064598318e-06, + "track": 2.409943590464536e-06, + "acceleration": 7.518978151210831e-08, + "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": 1.0169057532039005e-05, + "observation_loss": 9.934911759046372e-06, + "chamfer": 7.574435130663915e-06, + "track": 2.360476855756133e-06, + "acceleration": 2.3414563088408613e-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": 1.0316396583220921e-05, + "observation_loss": 9.738367225509137e-06, + "chamfer": 7.465951966878492e-06, + "track": 2.272415031256969e-06, + "acceleration": 5.780296419288788e-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": 1.0006752745539416e-05, + "observation_loss": 9.670719009591267e-06, + "chamfer": 7.417544111376628e-06, + "track": 2.2531744434672873e-06, + "acceleration": 3.3603387805669627e-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": 9.8482823887025e-06, + "observation_loss": 9.646462785894983e-06, + "chamfer": 7.408332294289721e-06, + "track": 2.2381304916052613e-06, + "acceleration": 2.018198017594841e-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": 9.814188160817139e-06, + "observation_loss": 9.681940355221741e-06, + "chamfer": 7.438045031449292e-06, + "track": 2.2438957785198e-06, + "acceleration": 1.3224797612565453e-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": 9.850676178757567e-06, + "observation_loss": 9.778581443242729e-06, + "chamfer": 7.506798738177167e-06, + "track": 2.271782477691886e-06, + "acceleration": 7.209515473505235e-08, + "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": 9.938679795595817e-06, + "observation_loss": 9.902990314003546e-06, + "chamfer": 7.583741989947157e-06, + "track": 2.3192485514300643e-06, + "acceleration": 3.568977291479314e-08, + "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": 1.0085424037242774e-05, + "observation_loss": 1.0004438081523404e-05, + "chamfer": 7.616606126248371e-06, + "track": 2.387832182648708e-06, + "acceleration": 8.098611203877226e-08, + "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": 1.0315510735381395e-05, + "observation_loss": 1.0170557288802229e-05, + "chamfer": 7.695115527894814e-06, + "track": 2.4754419882810907e-06, + "acceleration": 1.4495307709694316e-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": 1.0730122994573321e-05, + "observation_loss": 1.0532858141232282e-05, + "chamfer": 7.875987648731098e-06, + "track": 2.6568709472485352e-06, + "acceleration": 1.9726456912394497e-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": 1.1147678378620185e-05, + "observation_loss": 1.092013917514123e-05, + "chamfer": 8.074267498159315e-06, + "track": 2.8458714496082393e-06, + "acceleration": 2.2753906137040758e-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": 1.1467133845144417e-05, + "observation_loss": 1.1277683370281011e-05, + "chamfer": 8.27416170068318e-06, + "track": 3.0035221243451815e-06, + "acceleration": 1.8945036117656855e-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": 1.1559748600120656e-05, + "observation_loss": 1.14532231236808e-05, + "chamfer": 8.35624541650759e-06, + "track": 3.0969772524258588e-06, + "acceleration": 1.0652550486156542e-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": 1.1931573681067675e-05, + "observation_loss": 1.1701459698088001e-05, + "chamfer": 8.511571650160477e-06, + "track": 3.1898878205538495e-06, + "acceleration": 2.3011439509446063e-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": 1.2260396033525467e-05, + "observation_loss": 1.2036861335218418e-05, + "chamfer": 8.709065696166363e-06, + "track": 3.3277956390520558e-06, + "acceleration": 2.2353427198140707e-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": 1.237205469806213e-05, + "observation_loss": 1.2289019650779665e-05, + "chamfer": 8.846970558806788e-06, + "track": 3.4420490919728763e-06, + "acceleration": 8.303514675844781e-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": 1.2470317415136378e-05, + "observation_loss": 1.2394393706927076e-05, + "chamfer": 8.895895916793961e-06, + "track": 3.4984980175067903e-06, + "acceleration": 7.592359452246455e-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": 1.2525596503110137e-05, + "observation_loss": 1.2458025594241917e-05, + "chamfer": 8.932883247325663e-06, + "track": 3.5251428016636055e-06, + "acceleration": 6.75707596542452e-08, + "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": 1.252996844414156e-05, + "observation_loss": 1.2474651157390326e-05, + "chamfer": 8.916498700273223e-06, + "track": 3.5581526844907785e-06, + "acceleration": 5.531688529458734e-08, + "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": 1.254899052582914e-05, + "observation_loss": 1.2500122466008179e-05, + "chamfer": 8.907869414542802e-06, + "track": 3.5922532788390527e-06, + "acceleration": 4.886813442794846e-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": 1.261388388229534e-05, + "observation_loss": 1.2479627912398428e-05, + "chamfer": 8.902760782802943e-06, + "track": 3.57686735696916e-06, + "acceleration": 1.342558135775107e-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": 1.2573830645123962e-05, + "observation_loss": 1.2440562386473175e-05, + "chamfer": 8.880545465217438e-06, + "track": 3.560017148629413e-06, + "acceleration": 1.3326787495770986e-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": 1.2433951269485988e-05, + "observation_loss": 1.2414301636454184e-05, + "chamfer": 8.851877282722853e-06, + "track": 3.562424126357655e-06, + "acceleration": 1.964982843105645e-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": 1.2436118595360313e-05, + "observation_loss": 1.2380663974909112e-05, + "chamfer": 8.818973583402112e-06, + "track": 3.5616908462543506e-06, + "acceleration": 5.5454851377589875e-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": 1.2468099157558754e-05, + "observation_loss": 1.2351871191640384e-05, + "chamfer": 8.792902917775791e-06, + "track": 3.5589678191172425e-06, + "acceleration": 1.1622756801443757e-07, + "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": 1.2361791050352622e-05, + "observation_loss": 1.2252069609530736e-05, + "chamfer": 8.738278665987309e-06, + "track": 3.513791170917102e-06, + "acceleration": 1.0972112107765497e-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": 1.2106217582186218e-05, + "observation_loss": 1.2064023394486867e-05, + "chamfer": 8.636146048957016e-06, + "track": 3.4278778002772015e-06, + "acceleration": 4.219424099005664e-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": 9.613880460316674e-06, + "chamfer_mean": 6.648980506914389e-06, + "track_mean": 1.930004171294778e-06, + "acceleration_mean": 1.0348958407272828e-06, + "observation_score": 8.578984633800246e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4290342570002394 + }, + "score_arrays_file": "pass_scores/pass_end_0127.npz", + "score_arrays_sha256": "b32c08d73a0bbbc793b5d3d153eab882a1263ab4c131c76a200fe50eb60edfab" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0128.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0128.json new file mode 100644 index 0000000000000000000000000000000000000000..c597324a5b64a24a5dd17c31ca5bde60204c9241 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0128.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12288, + "completed_passes": 128, + "snapshot": "pass_end_0128", + "candidate": true, + "snapshot_arrays_sha256": "aeee36880c8d769ee8c244c0784a424665bf16c57caaa2643a7eb9181a9a3836", + "score": 8.567556323650175e-06, + "score_result": { + "score": 8.567556323650175e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.962779262816184e-06, + 3.341554702274152e-06, + 3.7706338389398297e-06, + 4.716788225778146e-06, + 5.615659574687015e-06, + 6.051473974366672e-06, + 6.106342880229931e-06, + 5.95067012909567e-06, + 5.753491677751299e-06, + 5.6939466048788745e-06, + 5.827787390444428e-06, + 6.0325519370962866e-06, + 6.268869583436754e-06, + 6.453273726947373e-06, + 6.581921297765803e-06, + 6.713965831295354e-06, + 6.5939138949033804e-06, + 6.310438038781285e-06, + 6.121596470620716e-06, + 6.103837677073898e-06, + 6.118314558989368e-06, + 6.003779162710998e-06, + 5.751685421273578e-06, + 5.629868155665463e-06, + 5.8210230235999916e-06, + 6.204690635058796e-06, + 6.484928235295229e-06, + 6.5978588281723205e-06, + 6.538392426591599e-06, + 6.405044132407056e-06, + 6.3071047406992875e-06, + 6.37794482827303e-06, + 6.525089247588767e-06, + 6.806015790061792e-06, + 7.046764494589297e-06, + 7.385036496998509e-06, + 7.681102943024598e-06, + 7.740034561720677e-06, + 7.691751306992956e-06, + 7.820828614057973e-06, + 8.189155778381974e-06, + 8.528977559763007e-06, + 8.664058441354427e-06, + 8.812141459202394e-06, + 8.847384378896095e-06, + 8.826013981888536e-06, + 8.798650924290996e-06, + 9.12567429622868e-06, + 9.713029612612445e-06, + 1.0163726983591914e-05, + 9.9924836831633e-06, + 9.642787517805118e-06, + 9.381464224134106e-06, + 9.121994480665307e-06, + 9.080526979232673e-06, + 9.135160325968172e-06, + 9.14257179829292e-06, + 9.142263479589019e-06, + 9.181299901683815e-06, + 9.261045306629967e-06, + 9.36029027798213e-06, + 9.410590791958384e-06, + 9.594045877747703e-06, + 9.79921969701536e-06, + 1.0090163414133713e-05, + 1.016125224850839e-05, + 1.0161540558328852e-05, + 1.013413020700682e-05, + 1.0078952072944958e-05, + 9.943885743268766e-06, + 9.748056072567124e-06, + 9.679707545728888e-06, + 9.654667337599676e-06, + 9.688894351711497e-06, + 9.784555004443973e-06, + 9.908566426020116e-06, + 1.0008740900957491e-05, + 1.0173347618547268e-05, + 1.0534957255003974e-05, + 1.0921654393314384e-05, + 1.1279536010988522e-05, + 1.145461828855332e-05, + 1.1701265975716524e-05, + 1.2037117812724318e-05, + 1.2289552614674903e-05, + 1.2394984878483228e-05, + 1.2459749086701777e-05, + 1.2475815310608596e-05, + 1.2501312085078098e-05, + 1.248066564585315e-05, + 1.244214490725426e-05, + 1.2415714081726037e-05, + 1.238224285771139e-05, + 1.2353613783488981e-05, + 1.2253921340743545e-05, + 1.206676915899152e-05 + ] + ], + "episode_mean_losses": [ + 8.567556323650175e-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": 2.962779262816184e-06, + "observation_loss": 2.962779262816184e-06, + "chamfer": 2.5127178560069297e-06, + "track": 4.500614636526734e-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": 4.509436621447094e-05, + "observation_loss": 3.341554702274152e-06, + "chamfer": 2.8265092169021955e-06, + "track": 5.150454285285377e-07, + "acceleration": 4.175280992058106e-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": 2.7448471882962622e-05, + "observation_loss": 3.7706338389398297e-06, + "chamfer": 3.1803492674953304e-06, + "track": 5.902846282879182e-07, + "acceleration": 2.3677837816649117e-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": 1.3025490261497907e-05, + "observation_loss": 4.716788225778146e-06, + "chamfer": 3.920890776498709e-06, + "track": 7.958975629662746e-07, + "acceleration": 8.308702490467113e-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": 1.0000885595218278e-05, + "observation_loss": 5.615659574687015e-06, + "chamfer": 4.5826391215086915e-06, + "track": 1.033020339491486e-06, + "acceleration": 4.385225565783912e-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": 7.734553946647793e-06, + "observation_loss": 6.051473974366672e-06, + "chamfer": 4.870611519436352e-06, + "track": 1.1808624549303204e-06, + "acceleration": 1.6830796312206076e-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": 7.563267445220845e-06, + "observation_loss": 6.106342880229931e-06, + "chamfer": 4.882407665718347e-06, + "track": 1.2239351008247468e-06, + "acceleration": 1.4569245649909135e-06, + "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": 6.579030468856217e-06, + "observation_loss": 5.95067012909567e-06, + "chamfer": 4.7589969653927255e-06, + "track": 1.1916730500161066e-06, + "acceleration": 6.283602260737098e-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": 6.606192073377315e-06, + "observation_loss": 5.753491677751299e-06, + "chamfer": 4.618013008439448e-06, + "track": 1.1354786693118513e-06, + "acceleration": 8.527001682523405e-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": 6.604410373256542e-06, + "observation_loss": 5.6939466048788745e-06, + "chamfer": 4.597922270477284e-06, + "track": 1.0960243344015907e-06, + "acceleration": 9.10463882064505e-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": 6.349690920615103e-06, + "observation_loss": 5.827787390444428e-06, + "chamfer": 4.733891273644986e-06, + "track": 1.0938958894257667e-06, + "acceleration": 5.219036438575131e-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": 6.316697181318887e-06, + "observation_loss": 6.0325519370962866e-06, + "chamfer": 4.912063104711706e-06, + "track": 1.1204890597582562e-06, + "acceleration": 2.841452442226e-07, + "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": 6.718770691804821e-06, + "observation_loss": 6.268869583436754e-06, + "chamfer": 5.1212218750151806e-06, + "track": 1.1476474810478976e-06, + "acceleration": 4.499012220549048e-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": 7.025395461823791e-06, + "observation_loss": 6.453273726947373e-06, + "chamfer": 5.284348389977822e-06, + "track": 1.1689253369695507e-06, + "acceleration": 5.721215643461619e-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": 6.751091859769076e-06, + "observation_loss": 6.581921297765803e-06, + "chamfer": 5.3992635002941824e-06, + "track": 1.1826577974716201e-06, + "acceleration": 1.6917067569011124e-07, + "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": 6.9167344918241724e-06, + "observation_loss": 6.713965831295354e-06, + "chamfer": 5.512696588994004e-06, + "track": 1.2012692423013505e-06, + "acceleration": 2.0276877421565587e-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": 6.864557690278161e-06, + "observation_loss": 6.5939138949033804e-06, + "chamfer": 5.41888402949553e-06, + "track": 1.175030092781526e-06, + "acceleration": 2.706439090616186e-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": 6.551951628352981e-06, + "observation_loss": 6.310438038781285e-06, + "chamfer": 5.202696229389403e-06, + "track": 1.1077416957050445e-06, + "acceleration": 2.415134474631486e-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": 6.267843673413154e-06, + "observation_loss": 6.121596470620716e-06, + "chamfer": 5.062882792117307e-06, + "track": 1.058713678503409e-06, + "acceleration": 1.4624720279243775e-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": 6.224363914952846e-06, + "observation_loss": 6.103837677073898e-06, + "chamfer": 5.0524267862783745e-06, + "track": 1.0514108907955233e-06, + "acceleration": 1.205261810355296e-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": 6.302219844656065e-06, + "observation_loss": 6.118314558989368e-06, + "chamfer": 5.062175205239328e-06, + "track": 1.0561393537500408e-06, + "acceleration": 1.8390548461866274e-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": 6.190727162902476e-06, + "observation_loss": 6.003779162710998e-06, + "chamfer": 4.976930995326256e-06, + "track": 1.0268481673847418e-06, + "acceleration": 1.8694811387831578e-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": 5.929004601057386e-06, + "observation_loss": 5.751685421273578e-06, + "chamfer": 4.782662472280208e-06, + "track": 9.690228353065322e-07, + "acceleration": 1.773193929466288e-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": 5.7581401051720604e-06, + "observation_loss": 5.629868155665463e-06, + "chamfer": 4.6793420551694e-06, + "track": 9.505262710263196e-07, + "acceleration": 1.2827193529574288e-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": 5.951002094661817e-06, + "observation_loss": 5.8210230235999916e-06, + "chamfer": 4.812072802451439e-06, + "track": 1.00895033483539e-06, + "acceleration": 1.2997924159208196e-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": 6.50023139314726e-06, + "observation_loss": 6.204690635058796e-06, + "chamfer": 5.0907774493680336e-06, + "track": 1.1139131856907625e-06, + "acceleration": 2.955408149318828e-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": 6.80213634041138e-06, + "observation_loss": 6.484928235295229e-06, + "chamfer": 5.2915283959009685e-06, + "track": 1.193399953081098e-06, + "acceleration": 3.172083040681173e-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": 6.823177500336897e-06, + "observation_loss": 6.5978588281723205e-06, + "chamfer": 5.378991318139015e-06, + "track": 1.2188675100333057e-06, + "acceleration": 2.2531881427312328e-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": 7.029871539998567e-06, + "observation_loss": 6.538392426591599e-06, + "chamfer": 5.340184543456417e-06, + "track": 1.1982078831351828e-06, + "acceleration": 4.914790565635485e-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": 6.651298917859094e-06, + "observation_loss": 6.405044132407056e-06, + "chamfer": 5.24266670254292e-06, + "track": 1.1623773161772988e-06, + "acceleration": 2.462549275605852e-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": 6.37743187326123e-06, + "observation_loss": 6.3071047406992875e-06, + "chamfer": 5.17244370712433e-06, + "track": 1.1346609198881197e-06, + "acceleration": 7.032706861309634e-08, + "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": 6.4239479797834065e-06, + "observation_loss": 6.37794482827303e-06, + "chamfer": 5.232166586210951e-06, + "track": 1.145778128375241e-06, + "acceleration": 4.6003322040633066e-08, + "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": 6.581917205039645e-06, + "observation_loss": 6.525089247588767e-06, + "chamfer": 5.350188985175919e-06, + "track": 1.1749003760996857e-06, + "acceleration": 5.682790416017269e-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": 6.912334356456995e-06, + "observation_loss": 6.806015790061792e-06, + "chamfer": 5.557890290219802e-06, + "track": 1.2481253861551522e-06, + "acceleration": 1.0631877955802338e-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": 7.132498922146624e-06, + "observation_loss": 7.046764494589297e-06, + "chamfer": 5.741696895711357e-06, + "track": 1.3050674851911026e-06, + "acceleration": 8.573432808134385e-08, + "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": 7.5226507760817185e-06, + "observation_loss": 7.385036496998509e-06, + "chamfer": 5.992529167997418e-06, + "track": 1.3925072153142537e-06, + "acceleration": 1.3761443540261098e-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": 7.738030944892671e-06, + "observation_loss": 7.681102943024598e-06, + "chamfer": 6.206527814356377e-06, + "track": 1.4745755834155716e-06, + "acceleration": 5.692761817499559e-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": 8.107776920951437e-06, + "observation_loss": 7.740034561720677e-06, + "chamfer": 6.258640041778563e-06, + "track": 1.481394178881601e-06, + "acceleration": 3.677422739656322e-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": 7.832564733689651e-06, + "observation_loss": 7.691751306992956e-06, + "chamfer": 6.244307314773323e-06, + "track": 1.4474443332801457e-06, + "acceleration": 1.4081302879276336e-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": 8.01289024821017e-06, + "observation_loss": 7.820828614057973e-06, + "chamfer": 6.343798304442316e-06, + "track": 1.477030195928819e-06, + "acceleration": 1.9206201784527366e-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": 8.433890798187349e-06, + "observation_loss": 8.189155778381974e-06, + "chamfer": 6.604979262192501e-06, + "track": 1.5841765161894727e-06, + "acceleration": 2.4473470716657175e-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": 8.69334598974092e-06, + "observation_loss": 8.528977559763007e-06, + "chamfer": 6.839202342234785e-06, + "track": 1.6897749901545467e-06, + "acceleration": 1.643680889173993e-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": 8.760977834754158e-06, + "observation_loss": 8.664058441354427e-06, + "chamfer": 6.914833647897467e-06, + "track": 1.749224566083285e-06, + "acceleration": 9.691938629430297e-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": 8.861577953211963e-06, + "observation_loss": 8.812141459202394e-06, + "chamfer": 7.0090886765683535e-06, + "track": 1.8030527826340403e-06, + "acceleration": 4.943611031649198e-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": 8.928613169700839e-06, + "observation_loss": 8.847384378896095e-06, + "chamfer": 7.027751053101383e-06, + "track": 1.819633212107874e-06, + "acceleration": 8.122908923269279e-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": 8.91405488800956e-06, + "observation_loss": 8.826013981888536e-06, + "chamfer": 7.011804882495198e-06, + "track": 1.8142093267670134e-06, + "acceleration": 8.804128270867295e-08, + "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": 9.00266422831919e-06, + "observation_loss": 8.798650924290996e-06, + "chamfer": 6.9887059908069205e-06, + "track": 1.8099452745445888e-06, + "acceleration": 2.040134035041774e-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": 9.258509635401424e-06, + "observation_loss": 9.12567429622868e-06, + "chamfer": 7.208334409369854e-06, + "track": 1.917339659485151e-06, + "acceleration": 1.3283542443787155e-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": 9.797928214538842e-06, + "observation_loss": 9.713029612612445e-06, + "chamfer": 7.587173968204297e-06, + "track": 2.1258554170344723e-06, + "acceleration": 8.489814717904665e-08, + "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": 1.0423078492749482e-05, + "observation_loss": 1.0163726983591914e-05, + "chamfer": 7.88831584941363e-06, + "track": 2.2754106794309337e-06, + "acceleration": 2.5935125336218334e-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": 1.0125178050657269e-05, + "observation_loss": 9.9924836831633e-06, + "chamfer": 7.778799044899642e-06, + "track": 2.2136846382636577e-06, + "acceleration": 1.3269433907225903e-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": 9.809056791709736e-06, + "observation_loss": 9.642787517805118e-06, + "chamfer": 7.560847279819427e-06, + "track": 2.0819404653593665e-06, + "acceleration": 1.6626927390461788e-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": 9.424545169167686e-06, + "observation_loss": 9.381464224134106e-06, + "chamfer": 7.39243432690273e-06, + "track": 1.9890296698577004e-06, + "acceleration": 4.3081332279371054e-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": 9.173333637590986e-06, + "observation_loss": 9.121994480665307e-06, + "chamfer": 7.202566848718561e-06, + "track": 1.9194278593204217e-06, + "acceleration": 5.1339242190806544e-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": 9.139910616795532e-06, + "observation_loss": 9.080526979232673e-06, + "chamfer": 7.165715487644775e-06, + "track": 1.914811718961573e-06, + "acceleration": 5.9384049677646544e-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": 9.214642886945512e-06, + "observation_loss": 9.135160325968172e-06, + "chamfer": 7.197484592325054e-06, + "track": 1.9376759610167937e-06, + "acceleration": 7.948217728426243e-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": 9.192906873067841e-06, + "observation_loss": 9.14257179829292e-06, + "chamfer": 7.198835646704538e-06, + "track": 1.943736606335733e-06, + "acceleration": 5.0334762136117206e-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": 9.281727216148283e-06, + "observation_loss": 9.142263479589019e-06, + "chamfer": 7.174589882197324e-06, + "track": 1.9676733700180193e-06, + "acceleration": 1.394638644569568e-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": 9.471809789829422e-06, + "observation_loss": 9.181299901683815e-06, + "chamfer": 7.200451364042237e-06, + "track": 1.980848765015253e-06, + "acceleration": 2.9051025762782956e-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": 9.900941222440451e-06, + "observation_loss": 9.261045306629967e-06, + "chamfer": 7.229535185615532e-06, + "track": 2.031510121014435e-06, + "acceleration": 6.398961431841599e-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": 1.023399454425089e-05, + "observation_loss": 9.36029027798213e-06, + "chamfer": 7.296005151147256e-06, + "track": 2.064285581582226e-06, + "acceleration": 8.737047210161109e-07, + "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": 9.836709978117142e-06, + "observation_loss": 9.410590791958384e-06, + "chamfer": 7.328511856030673e-06, + "track": 2.0820793906750623e-06, + "acceleration": 4.261194135324331e-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": 9.726253665576223e-06, + "observation_loss": 9.594045877747703e-06, + "chamfer": 7.457613264705287e-06, + "track": 2.1364323856687406e-06, + "acceleration": 1.3220818573245197e-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": 9.881922778731678e-06, + "observation_loss": 9.79921969701536e-06, + "chamfer": 7.582748821732821e-06, + "track": 2.2164706479088636e-06, + "acceleration": 8.270336593341199e-08, + "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": 1.0143550753127784e-05, + "observation_loss": 1.0090163414133713e-05, + "chamfer": 7.764643669361249e-06, + "track": 2.325520199519815e-06, + "acceleration": 5.338702635526715e-08, + "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": 1.0205739272350911e-05, + "observation_loss": 1.016125224850839e-05, + "chamfer": 7.803996595612261e-06, + "track": 2.357255425522453e-06, + "acceleration": 4.4486867523119145e-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": 1.0345434020564426e-05, + "observation_loss": 1.0161540558328852e-05, + "chamfer": 7.789032679283991e-06, + "track": 2.372507651671185e-06, + "acceleration": 1.838933911813001e-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": 1.0237878086627461e-05, + "observation_loss": 1.013413020700682e-05, + "chamfer": 7.728492164460476e-06, + "track": 2.4056378151726676e-06, + "acceleration": 1.0374778725008582e-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": 1.0153868061024696e-05, + "observation_loss": 1.0078952072944958e-05, + "chamfer": 7.666467354283668e-06, + "track": 2.412484946034965e-06, + "acceleration": 7.491613729371238e-08, + "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": 1.0179383934882935e-05, + "observation_loss": 9.943885743268766e-06, + "chamfer": 7.580616966151865e-06, + "track": 2.363269231864251e-06, + "acceleration": 2.3549847583126393e-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": 1.0327196832804475e-05, + "observation_loss": 9.748056072567124e-06, + "chamfer": 7.472669039998436e-06, + "track": 2.2753870325686876e-06, + "acceleration": 5.791405328636756e-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": 1.0018161447078455e-05, + "observation_loss": 9.679707545728888e-06, + "chamfer": 7.423403985740151e-06, + "track": 2.2563037873624125e-06, + "acceleration": 3.384535318673443e-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": 9.858062185230665e-06, + "observation_loss": 9.654667337599676e-06, + "chamfer": 7.413511411868967e-06, + "track": 2.2411556983570335e-06, + "acceleration": 2.0339497552868124e-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": 9.823013897403143e-06, + "observation_loss": 9.688894351711497e-06, + "chamfer": 7.44235330785159e-06, + "track": 2.2465410438599065e-06, + "acceleration": 1.3411919042027876e-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": 9.857863005890977e-06, + "observation_loss": 9.784555004443973e-06, + "chamfer": 7.510600426030578e-06, + "track": 2.2739541236660443e-06, + "acceleration": 7.330783802217411e-08, + "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": 9.944434168573935e-06, + "observation_loss": 9.908566426020116e-06, + "chamfer": 7.587455002067145e-06, + "track": 2.3211109692056198e-06, + "acceleration": 3.586747254757938e-08, + "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": 1.009208608593326e-05, + "observation_loss": 1.0008740900957491e-05, + "chamfer": 7.619300959049724e-06, + "track": 2.3894401692814426e-06, + "acceleration": 8.334536971688067e-08, + "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": 1.0321440640836954e-05, + "observation_loss": 1.0173347618547268e-05, + "chamfer": 7.696901775489096e-06, + "track": 2.476446070431848e-06, + "acceleration": 1.480930222896859e-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": 1.0733017006714363e-05, + "observation_loss": 1.0534957255003974e-05, + "chamfer": 7.877209100115579e-06, + "track": 2.6577477001410443e-06, + "acceleration": 1.9805960960184166e-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": 1.1149940291943494e-05, + "observation_loss": 1.0921654393314384e-05, + "chamfer": 8.075064215518069e-06, + "track": 2.8465897230489645e-06, + "acceleration": 2.282861828462046e-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": 1.1470866411400493e-05, + "observation_loss": 1.1279536010988522e-05, + "chamfer": 8.275235813925974e-06, + "track": 3.0043001970625482e-06, + "acceleration": 1.9133018724915019e-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": 1.156179769168375e-05, + "observation_loss": 1.145461828855332e-05, + "chamfer": 8.357206752407365e-06, + "track": 3.0974110813986044e-06, + "acceleration": 1.0717935339243922e-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": 1.1935555448872037e-05, + "observation_loss": 1.1701265975716524e-05, + "chamfer": 8.511487067153212e-06, + "track": 3.189778908563312e-06, + "acceleration": 2.342892884144021e-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": 1.2262094060133677e-05, + "observation_loss": 1.2037117812724318e-05, + "chamfer": 8.709786015970167e-06, + "track": 3.3273317967541516e-06, + "acceleration": 2.2497634688534163e-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": 1.2373411664157175e-05, + "observation_loss": 1.2289552614674903e-05, + "chamfer": 8.847754543239716e-06, + "track": 3.441797616687836e-06, + "acceleration": 8.385926975051916e-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": 1.2471374247979838e-05, + "observation_loss": 1.2394984878483228e-05, + "chamfer": 8.89680359250633e-06, + "track": 3.498181740724249e-06, + "acceleration": 7.63897745059694e-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": 1.2527243598015048e-05, + "observation_loss": 1.2459749086701777e-05, + "chamfer": 8.934800462157e-06, + "track": 3.524948624544777e-06, + "acceleration": 6.749429815045005e-08, + "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": 1.2531575521279592e-05, + "observation_loss": 1.2475815310608596e-05, + "chamfer": 8.917882951209322e-06, + "track": 3.557932814146625e-06, + "acceleration": 5.5759954875611584e-08, + "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": 1.2550008250400424e-05, + "observation_loss": 1.2501312085078098e-05, + "chamfer": 8.909290954761673e-06, + "track": 3.5920209029427497e-06, + "acceleration": 4.869599834478322e-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": 1.2615351806744002e-05, + "observation_loss": 1.248066564585315e-05, + "chamfer": 8.90404680831125e-06, + "track": 3.5766188375419006e-06, + "acceleration": 1.3468597614973987e-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": 1.257711755897617e-05, + "observation_loss": 1.244214490725426e-05, + "chamfer": 8.882077054295223e-06, + "track": 3.5600676255853614e-06, + "acceleration": 1.3497222539626819e-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": 1.2436433280527126e-05, + "observation_loss": 1.2415714081726037e-05, + "chamfer": 8.853341569192708e-06, + "track": 3.562372739907005e-06, + "acceleration": 2.071874760645187e-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": 1.2438372323231306e-05, + "observation_loss": 1.238224285771139e-05, + "chamfer": 8.820663424558006e-06, + "track": 3.5615798879007343e-06, + "acceleration": 5.6129884740130365e-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": 1.2470909496187232e-05, + "observation_loss": 1.2353613783488981e-05, + "chamfer": 8.794746463536285e-06, + "track": 3.558867547326372e-06, + "acceleration": 1.1729565585483215e-07, + "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": 1.2364837857603561e-05, + "observation_loss": 1.2253921340743545e-05, + "chamfer": 8.740009434404783e-06, + "track": 3.513912133712438e-06, + "acceleration": 1.109162965917676e-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": 1.2109586350561585e-05, + "observation_loss": 1.206676915899152e-05, + "chamfer": 8.638279723527376e-06, + "track": 3.4284894354641438e-06, + "acceleration": 4.2817582368570584e-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": 9.601683106078932e-06, + "chamfer_mean": 6.6406293062944615e-06, + "track_mean": 1.9269270197241894e-06, + "acceleration_mean": 1.0341267631848912e-06, + "observation_score": 8.567556323650175e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4182456349990389 + }, + "score_arrays_file": "pass_scores/pass_end_0128.npz", + "score_arrays_sha256": "33e602bbf277e7ff0deba21694d4f32ea55f6d7ec9e7fd531d06034117af0f46" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0129.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0129.json new file mode 100644 index 0000000000000000000000000000000000000000..d81dc667ab6b462a1f3f86735c91aff2a9f06e10 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0129.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12384, + "completed_passes": 129, + "snapshot": "pass_end_0129", + "candidate": true, + "snapshot_arrays_sha256": "eab08947d0243bf0a0b8c9b9e9ca91ea571008b8ef72ecaa45611db613bdb3d3", + "score": 8.558607670276311e-06, + "score_result": { + "score": 8.558607670276311e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9618688586197095e-06, + 3.3388175779691665e-06, + 3.7658755900338292e-06, + 4.703658305516001e-06, + 5.6009548643487506e-06, + 6.033771114744013e-06, + 6.08597156315227e-06, + 5.93213599131559e-06, + 5.734636033594143e-06, + 5.677930857928004e-06, + 5.813749339722563e-06, + 6.0164388742123265e-06, + 6.2548310779675376e-06, + 6.436512194341049e-06, + 6.564226623595459e-06, + 6.696797299809987e-06, + 6.574402959813597e-06, + 6.290826149779605e-06, + 6.10264351053047e-06, + 6.083374046284007e-06, + 6.096955075918231e-06, + 5.982009952276712e-06, + 5.730400516767986e-06, + 5.6091057558660395e-06, + 5.7980169003712945e-06, + 6.179554475238547e-06, + 6.460501936089713e-06, + 6.5755530158639885e-06, + 6.518323061754927e-06, + 6.386575023498153e-06, + 6.289226348599186e-06, + 6.360994120768737e-06, + 6.5090330281236675e-06, + 6.790100087528117e-06, + 7.0302330641425215e-06, + 7.367479156528134e-06, + 7.664424629183486e-06, + 7.722972441115417e-06, + 7.672359060961753e-06, + 7.800349521858152e-06, + 8.167289706761949e-06, + 8.507564416504465e-06, + 8.642803550173994e-06, + 8.790605534159113e-06, + 8.826603334455285e-06, + 8.805504876363557e-06, + 8.77946240507299e-06, + 9.108642188948579e-06, + 9.698023859527893e-06, + 1.0150120942853391e-05, + 9.979935384762939e-06, + 9.630900422052946e-06, + 9.369164217787329e-06, + 9.110018254432362e-06, + 9.067635801329743e-06, + 9.121676157519687e-06, + 9.131853403232526e-06, + 9.132402738032397e-06, + 9.171770216198638e-06, + 9.2522905106307e-06, + 9.353191671834793e-06, + 9.406419849256054e-06, + 9.593717550160363e-06, + 9.802267413761001e-06, + 1.0098249731527176e-05, + 1.0173351256526075e-05, + 1.0175117495236918e-05, + 1.0150255548069254e-05, + 1.0096680853166617e-05, + 9.961569048755337e-06, + 9.765063623490278e-06, + 9.694406799098942e-06, + 9.667486665421166e-06, + 9.698277608549688e-06, + 9.792620403459296e-06, + 9.915211194311269e-06, + 1.0013844075729139e-05, + 1.0176028808928095e-05, + 1.053559662977932e-05, + 1.0921152352239005e-05, + 1.1278833881078754e-05, + 1.1453981642262079e-05, + 1.169931965705473e-05, + 1.203571810037829e-05, + 1.2288111975067295e-05, + 1.2393789802445099e-05, + 1.2459237041184679e-05, + 1.2474800314521417e-05, + 1.2500200682552531e-05, + 1.2479155884648208e-05, + 1.2441731996659655e-05, + 1.2415363016771153e-05, + 1.2381839951558504e-05, + 1.2353866623016074e-05, + 1.2254178727744147e-05, + 1.2067840543750208e-05 + ] + ], + "episode_mean_losses": [ + 8.558607670276311e-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": 2.9618688586197095e-06, + "observation_loss": 2.9618688586197095e-06, + "chamfer": 2.5119616111624055e-06, + "track": 4.4990733272243233e-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": 4.5020304241916165e-05, + "observation_loss": 3.3388175779691665e-06, + "chamfer": 2.8242270673217718e-06, + "track": 5.145905106473947e-07, + "acceleration": 4.1681487346068025e-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": 2.73980331257917e-05, + "observation_loss": 3.7658755900338292e-06, + "chamfer": 3.1764536743139615e-06, + "track": 5.894219725632865e-07, + "acceleration": 2.363215753575787e-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": 1.2997189514862839e-05, + "observation_loss": 4.703658305516001e-06, + "chamfer": 3.910900431947084e-06, + "track": 7.927579304123356e-07, + "acceleration": 8.293531209346838e-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": 9.993642379413359e-06, + "observation_loss": 5.6009548643487506e-06, + "chamfer": 4.572574198391521e-06, + "track": 1.0283805522703915e-06, + "acceleration": 4.392687060317257e-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": 7.720341272943188e-06, + "observation_loss": 6.033771114744013e-06, + "chamfer": 4.859125056100311e-06, + "track": 1.1746461723305401e-06, + "acceleration": 1.6865703855728498e-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": 7.513754098908976e-06, + "observation_loss": 6.08597156315227e-06, + "chamfer": 4.869084023084724e-06, + "track": 1.2168874263807083e-06, + "acceleration": 1.4277827631303808e-06, + "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": 6.54688801660086e-06, + "observation_loss": 5.93213599131559e-06, + "chamfer": 4.746900685859146e-06, + "track": 1.1852353054564446e-06, + "acceleration": 6.147521389721078e-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": 6.600607775908429e-06, + "observation_loss": 5.734636033594143e-06, + "chamfer": 4.6054415179241914e-06, + "track": 1.1291942882962758e-06, + "acceleration": 8.659716854708677e-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": 6.58261751596001e-06, + "observation_loss": 5.677930857928004e-06, + "chamfer": 4.5872970986238215e-06, + "track": 1.0906335319305072e-06, + "acceleration": 9.046864875017491e-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": 6.312480763881467e-06, + "observation_loss": 5.813749339722563e-06, + "chamfer": 4.7246312533388846e-06, + "track": 1.0891178590100026e-06, + "acceleration": 4.987314810023236e-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": 6.31257444183575e-06, + "observation_loss": 6.0164388742123265e-06, + "chamfer": 4.900931799056707e-06, + "track": 1.1155070751556195e-06, + "acceleration": 2.961355676234234e-07, + "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": 6.7463361119735055e-06, + "observation_loss": 6.2548310779675376e-06, + "chamfer": 5.111620339448564e-06, + "track": 1.1432107385189738e-06, + "acceleration": 4.915048066322925e-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": 6.990365363890305e-06, + "observation_loss": 6.436512194341049e-06, + "chamfer": 5.272219823382329e-06, + "track": 1.164292143585044e-06, + "acceleration": 5.538532832360943e-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": 6.710139587084996e-06, + "observation_loss": 6.564226623595459e-06, + "chamfer": 5.386332759371726e-06, + "track": 1.1778937505368958e-06, + "acceleration": 1.459131624415022e-07, + "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": 6.932223641342716e-06, + "observation_loss": 6.696797299809987e-06, + "chamfer": 5.5001451073621865e-06, + "track": 1.1966521924478002e-06, + "acceleration": 2.35426270478456e-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": 6.85101394992671e-06, + "observation_loss": 6.574402959813597e-06, + "chamfer": 5.404331204772461e-06, + "track": 1.1700716413542978e-06, + "acceleration": 2.766109332696942e-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": 6.53305778541835e-06, + "observation_loss": 6.290826149779605e-06, + "chamfer": 5.187742772250203e-06, + "track": 1.1030833775294013e-06, + "acceleration": 2.422315503736172e-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": 6.25046686764108e-06, + "observation_loss": 6.10264351053047e-06, + "chamfer": 5.048274033470079e-06, + "track": 1.0543694770603906e-06, + "acceleration": 1.4782352764086681e-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": 6.2041840465099085e-06, + "observation_loss": 6.083374046284007e-06, + "chamfer": 5.036526090407278e-06, + "track": 1.0468479558767285e-06, + "acceleration": 1.208100002259016e-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": 6.282758931774879e-06, + "observation_loss": 6.096955075918231e-06, + "chamfer": 5.04559648106806e-06, + "track": 1.0513585948501714e-06, + "acceleration": 1.8580367111553642e-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": 6.172721896291478e-06, + "observation_loss": 5.982009952276712e-06, + "chamfer": 4.9599439080338925e-06, + "track": 1.022065930555982e-06, + "acceleration": 1.9071180190621817e-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": 5.909994342800928e-06, + "observation_loss": 5.730400516767986e-06, + "chamfer": 4.765764060721267e-06, + "track": 9.646362286730437e-07, + "acceleration": 1.795938544546516e-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": 5.736525508837076e-06, + "observation_loss": 5.6091057558660395e-06, + "chamfer": 4.662739229388535e-06, + "track": 9.463664696340857e-07, + "acceleration": 1.274198808687288e-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": 5.9282779147906695e-06, + "observation_loss": 5.7980169003712945e-06, + "chamfer": 4.793907010025578e-06, + "track": 1.0041097766588791e-06, + "acceleration": 1.3026107126279385e-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": 6.477014721895102e-06, + "observation_loss": 6.179554475238547e-06, + "chamfer": 5.071305167803075e-06, + "track": 1.1082491937486338e-06, + "acceleration": 2.9746041718681226e-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": 6.780979219911387e-06, + "observation_loss": 6.460501936089713e-06, + "chamfer": 5.2726354624610394e-06, + "track": 1.1878662462549983e-06, + "acceleration": 3.2047725539996463e-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": 6.802897587476764e-06, + "observation_loss": 6.5755530158639885e-06, + "chamfer": 5.361738658393733e-06, + "track": 1.2138145848439308e-06, + "acceleration": 2.2734451476935646e-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": 7.011751677055145e-06, + "observation_loss": 6.518323061754927e-06, + "chamfer": 5.324603080225643e-06, + "track": 1.1937199815292843e-06, + "acceleration": 4.934287858304742e-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": 6.631879386986839e-06, + "observation_loss": 6.386575023498153e-06, + "chamfer": 5.228137069934746e-06, + "track": 1.1584378398765693e-06, + "acceleration": 2.453043350669759e-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": 6.359405688272091e-06, + "observation_loss": 6.289226348599186e-06, + "chamfer": 5.158325620868709e-06, + "track": 1.130900841417315e-06, + "acceleration": 7.017930414576767e-08, + "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": 6.406529792002402e-06, + "observation_loss": 6.360994120768737e-06, + "chamfer": 5.218697879172396e-06, + "track": 1.1422961279095034e-06, + "acceleration": 4.553561083753266e-08, + "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": 6.5648373492877e-06, + "observation_loss": 6.5090330281236675e-06, + "chamfer": 5.337338279787218e-06, + "track": 1.1716946346496115e-06, + "acceleration": 5.580418260819897e-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": 6.894942544022342e-06, + "observation_loss": 6.790100087528117e-06, + "chamfer": 5.5452733249694575e-06, + "track": 1.2448267625586595e-06, + "acceleration": 1.0484252754849877e-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": 7.115788321243599e-06, + "observation_loss": 7.0302330641425215e-06, + "chamfer": 5.7286083574581426e-06, + "track": 1.3016244793107035e-06, + "acceleration": 8.555539210419738e-08, + "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": 7.504652330680983e-06, + "observation_loss": 7.367479156528134e-06, + "chamfer": 5.9788367252622265e-06, + "track": 1.3886426586395828e-06, + "acceleration": 1.3717320257455867e-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": 7.721627298451494e-06, + "observation_loss": 7.664424629183486e-06, + "chamfer": 6.1936339079693425e-06, + "track": 1.4707904938404681e-06, + "acceleration": 5.720277229670501e-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": 8.09234279586235e-06, + "observation_loss": 7.722972441115417e-06, + "chamfer": 6.245820259209722e-06, + "track": 1.4771517271583434e-06, + "acceleration": 3.693706958074472e-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": 7.81354810897028e-06, + "observation_loss": 7.672359060961753e-06, + "chamfer": 6.229624887055252e-06, + "track": 1.4427337191591505e-06, + "acceleration": 1.411894032798955e-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": 7.99226290837396e-06, + "observation_loss": 7.800349521858152e-06, + "chamfer": 6.3286815930041485e-06, + "track": 1.471668156227679e-06, + "acceleration": 1.919135144134998e-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": 8.413200703216717e-06, + "observation_loss": 8.167289706761949e-06, + "chamfer": 6.589013082702877e-06, + "track": 1.5782761693117209e-06, + "acceleration": 2.4591142278040934e-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": 8.672866897541098e-06, + "observation_loss": 8.507564416504465e-06, + "chamfer": 6.82372819937882e-06, + "track": 1.683835762378294e-06, + "acceleration": 1.6530258051261626e-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": 8.739839358895551e-06, + "observation_loss": 8.642803550173994e-06, + "chamfer": 6.89948137733154e-06, + "track": 1.7433222865292919e-06, + "acceleration": 9.703607162236949e-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": 8.838814210321289e-06, + "observation_loss": 8.790605534159113e-06, + "chamfer": 6.993690476519987e-06, + "track": 1.796915398699639e-06, + "acceleration": 4.820910604053097e-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": 8.907224582799245e-06, + "observation_loss": 8.826603334455285e-06, + "chamfer": 7.012838523223763e-06, + "track": 1.8137650386051973e-06, + "acceleration": 8.062160361532733e-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": 8.894144229998346e-06, + "observation_loss": 8.805504876363557e-06, + "chamfer": 6.997014224907616e-06, + "track": 1.808490537769103e-06, + "acceleration": 8.863890599286606e-08, + "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": 8.983946827356704e-06, + "observation_loss": 8.77946240507299e-06, + "chamfer": 6.9748116402479354e-06, + "track": 1.804650878511893e-06, + "acceleration": 2.0448446491627692e-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": 9.241372026735917e-06, + "observation_loss": 9.108642188948579e-06, + "chamfer": 7.196121714514447e-06, + "track": 1.9125209291814826e-06, + "acceleration": 1.3272978094391874e-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": 9.78291154751787e-06, + "observation_loss": 9.698023859527893e-06, + "chamfer": 7.576564257760765e-06, + "track": 2.1214591470197774e-06, + "acceleration": 8.488756719771118e-08, + "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": 1.0411446965008508e-05, + "observation_loss": 1.0150120942853391e-05, + "chamfer": 7.878759788582101e-06, + "track": 2.2713609268976143e-06, + "acceleration": 2.613257947814418e-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": 1.011265703709796e-05, + "observation_loss": 9.979935384762939e-06, + "chamfer": 7.770068805257324e-06, + "track": 2.209866579505615e-06, + "acceleration": 1.3272153864818392e-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": 9.796985978027806e-06, + "observation_loss": 9.630900422052946e-06, + "chamfer": 7.552465376647888e-06, + "track": 2.078435045405058e-06, + "acceleration": 1.6608585440280876e-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": 9.411997780262027e-06, + "observation_loss": 9.369164217787329e-06, + "chamfer": 7.38381595510873e-06, + "track": 1.9853484900522744e-06, + "acceleration": 4.2833303126599276e-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": 9.160945410258137e-06, + "observation_loss": 9.110018254432362e-06, + "chamfer": 7.194334102678113e-06, + "track": 1.9156839243805734e-06, + "acceleration": 5.092740806844631e-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": 9.126431905315258e-06, + "observation_loss": 9.067635801329743e-06, + "chamfer": 7.156786068662768e-06, + "track": 1.910849732666975e-06, + "acceleration": 5.879649478401916e-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": 9.200917702401057e-06, + "observation_loss": 9.121676157519687e-06, + "chamfer": 7.1880626819620375e-06, + "track": 1.933613702931325e-06, + "acceleration": 7.92414809325237e-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": 9.184617738355882e-06, + "observation_loss": 9.131853403232526e-06, + "chamfer": 7.191451913968194e-06, + "track": 1.9404014892643318e-06, + "acceleration": 5.276389813957394e-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": 9.271908311347943e-06, + "observation_loss": 9.132402738032397e-06, + "chamfer": 7.167968760768417e-06, + "track": 1.964434204637655e-06, + "acceleration": 1.3950524646588747e-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": 9.462933121540118e-06, + "observation_loss": 9.171770216198638e-06, + "chamfer": 7.194134013843723e-06, + "track": 1.97763597498124e-06, + "acceleration": 2.911631611368648e-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": 9.893586138787214e-06, + "observation_loss": 9.2522905106307e-06, + "chamfer": 7.223890861496329e-06, + "track": 2.028399421760696e-06, + "acceleration": 6.412956849999318e-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": 1.0227351594949141e-05, + "observation_loss": 9.353191671834793e-06, + "chamfer": 7.291600468306569e-06, + "track": 2.0615912035282236e-06, + "acceleration": 8.741603210182802e-07, + "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": 9.835178389039356e-06, + "observation_loss": 9.406419849256054e-06, + "chamfer": 7.326399554585805e-06, + "track": 2.0800207494175993e-06, + "acceleration": 4.28758625048431e-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": 9.726312782731839e-06, + "observation_loss": 9.593717550160363e-06, + "chamfer": 7.458016625605524e-06, + "track": 2.1357013793021906e-06, + "acceleration": 1.3259477782412432e-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": 9.883215170702897e-06, + "observation_loss": 9.802267413761001e-06, + "chamfer": 7.585157163703116e-06, + "track": 2.217110477431561e-06, + "acceleration": 8.094733772168183e-08, + "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": 1.014911958918674e-05, + "observation_loss": 1.0098249731527176e-05, + "chamfer": 7.770527190587018e-06, + "track": 2.327722540940158e-06, + "acceleration": 5.087007437509783e-08, + "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": 1.0216912414762191e-05, + "observation_loss": 1.0173351256526075e-05, + "chamfer": 7.8124294304871e-06, + "track": 2.3609220534126507e-06, + "acceleration": 4.35608846771629e-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": 1.0359874067944475e-05, + "observation_loss": 1.0175117495236918e-05, + "chamfer": 7.798498700140044e-06, + "track": 2.3766190224705497e-06, + "acceleration": 1.8475702745490707e-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": 1.025420624500839e-05, + "observation_loss": 1.0150255548069254e-05, + "chamfer": 7.740055480098817e-06, + "track": 2.4102002953441115e-06, + "acceleration": 1.0395037719490574e-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": 1.0171261237701401e-05, + "observation_loss": 1.0096680853166617e-05, + "chamfer": 7.678981091885362e-06, + "track": 2.417699988654931e-06, + "acceleration": 7.458020689909972e-08, + "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": 1.0198744348599575e-05, + "observation_loss": 9.961569048755337e-06, + "chamfer": 7.5930124694423284e-06, + "track": 2.3685563519393327e-06, + "acceleration": 2.3717545616364077e-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": 1.0347895113227423e-05, + "observation_loss": 9.765063623490278e-06, + "chamfer": 7.484648904210189e-06, + "track": 2.280414491906413e-06, + "acceleration": 5.828312623634702e-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": 1.0035352715931367e-05, + "observation_loss": 9.694406799098942e-06, + "chamfer": 7.4332442636659835e-06, + "track": 2.2611627628066344e-06, + "acceleration": 3.4094605894097185e-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": 9.872099326457828e-06, + "observation_loss": 9.667486665421166e-06, + "chamfer": 7.421770078508416e-06, + "track": 2.2457168142864248e-06, + "acceleration": 2.0461257577153447e-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": 9.833449439611286e-06, + "observation_loss": 9.698277608549688e-06, + "chamfer": 7.448159067280358e-06, + "track": 2.250118313895655e-06, + "acceleration": 1.3517195895929035e-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": 9.867189874057658e-06, + "observation_loss": 9.792620403459296e-06, + "chamfer": 7.515780453104526e-06, + "track": 2.2768397229810944e-06, + "acceleration": 7.456915795955865e-08, + "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": 9.950856110663153e-06, + "observation_loss": 9.915211194311269e-06, + "chamfer": 7.591791018057847e-06, + "track": 2.3234204036270967e-06, + "acceleration": 3.564525741239777e-08, + "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": 1.0099513019667938e-05, + "observation_loss": 1.0013844075729139e-05, + "chamfer": 7.622582415933721e-06, + "track": 2.391261432421743e-06, + "acceleration": 8.56688942008077e-08, + "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": 1.0328059033781756e-05, + "observation_loss": 1.0176028808928095e-05, + "chamfer": 7.698567060288042e-06, + "track": 2.477461748640053e-06, + "acceleration": 1.5203001169084018e-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": 1.073463681677822e-05, + "observation_loss": 1.053559662977932e-05, + "chamfer": 7.877412826928776e-06, + "track": 2.65818403022422e-06, + "acceleration": 1.9904014436633588e-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": 1.115001032303553e-05, + "observation_loss": 1.0921152352239005e-05, + "chamfer": 8.074558536463883e-06, + "track": 2.8465933610277716e-06, + "acceleration": 2.288582692244745e-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": 1.1472338883322664e-05, + "observation_loss": 1.1278833881078754e-05, + "chamfer": 8.274660103779752e-06, + "track": 3.0041740046726773e-06, + "acceleration": 1.93505400147842e-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": 1.1562065992620774e-05, + "observation_loss": 1.1453981642262079e-05, + "chamfer": 8.356798389286269e-06, + "track": 3.0971827982284594e-06, + "acceleration": 1.0808405193074577e-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": 1.193801381305093e-05, + "observation_loss": 1.169931965705473e-05, + "chamfer": 8.510224688507151e-06, + "track": 3.1890954232949298e-06, + "acceleration": 2.386943549481657e-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": 1.2264149518159684e-05, + "observation_loss": 1.203571810037829e-05, + "chamfer": 8.709312169230543e-06, + "track": 3.3264063858950976e-06, + "acceleration": 2.2843157410079584e-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": 1.2373554454825353e-05, + "observation_loss": 1.2288111975067295e-05, + "chamfer": 8.847197932482231e-06, + "track": 3.440913587837713e-06, + "acceleration": 8.544236607122002e-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": 1.2470340152503923e-05, + "observation_loss": 1.2393789802445099e-05, + "chamfer": 8.896672625269275e-06, + "track": 3.497116949802148e-06, + "acceleration": 7.655038558596061e-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": 1.2526293176051695e-05, + "observation_loss": 1.2459237041184679e-05, + "chamfer": 8.935374353313819e-06, + "track": 3.5238624604971847e-06, + "acceleration": 6.705608512902472e-08, + "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": 1.2530206731753424e-05, + "observation_loss": 1.2474800314521417e-05, + "chamfer": 8.918064850149676e-06, + "track": 3.5567356917454163e-06, + "acceleration": 5.5406871979357675e-08, + "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": 1.2549044186016545e-05, + "observation_loss": 1.2500200682552531e-05, + "chamfer": 8.909298230719287e-06, + "track": 3.590902224459569e-06, + "acceleration": 4.884388715709065e-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": 1.2615183550224174e-05, + "observation_loss": 1.2479155884648208e-05, + "chamfer": 8.90380579221528e-06, + "track": 3.575349865059252e-06, + "acceleration": 1.360280919016077e-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": 1.2579156646097545e-05, + "observation_loss": 1.2441731996659655e-05, + "chamfer": 8.882467227522284e-06, + "track": 3.559264541763696e-06, + "acceleration": 1.3742447890763287e-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": 1.2437072655302472e-05, + "observation_loss": 1.2415363016771153e-05, + "chamfer": 8.853800864017103e-06, + "track": 3.561562380127725e-06, + "acceleration": 2.1709206876607823e-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": 1.2438155863492284e-05, + "observation_loss": 1.2381839951558504e-05, + "chamfer": 8.821091796562541e-06, + "track": 3.5607479276222875e-06, + "acceleration": 5.6316000751621687e-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": 1.2472121852624696e-05, + "observation_loss": 1.2353866623016074e-05, + "chamfer": 8.795645953796338e-06, + "track": 3.558221123967087e-06, + "acceleration": 1.1825520829233938e-07, + "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": 1.2366072041913867e-05, + "observation_loss": 1.2254178727744147e-05, + "chamfer": 8.740729754208587e-06, + "track": 3.5134492009092355e-06, + "acceleration": 1.1189336390771132e-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": 1.2110976967960596e-05, + "observation_loss": 1.2067840543750208e-05, + "chamfer": 8.63943114381982e-06, + "track": 3.4284091725567123e-06, + "acceleration": 4.313611157158448e-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": 9.592016252687094e-06, + "chamfer_mean": 6.634069812605503e-06, + "track_mean": 1.924537835466348e-06, + "acceleration_mean": 1.033408613293485e-06, + "observation_score": 8.558607670276311e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4301144940000086 + }, + "score_arrays_file": "pass_scores/pass_end_0129.npz", + "score_arrays_sha256": "cf6c3eb2e009daa740989fdcbaab601decded77930cbcc1bd5e9a2c80f6abb36" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0130.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0130.json new file mode 100644 index 0000000000000000000000000000000000000000..69cbf0bbcf8700d1a32ed4884bc6d68a9e012ac7 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0130.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12480, + "completed_passes": 130, + "snapshot": "pass_end_0130", + "candidate": true, + "snapshot_arrays_sha256": "59e16dab6efd6ace3d0eb35b206ce1ad341cc8d259d7bc51f6037466113709ff", + "score": 8.54688318696617e-06, + "score_result": { + "score": 8.54688318696617e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.961041673188447e-06, + 3.3360638553858735e-06, + 3.759540049941279e-06, + 4.6898771870473865e-06, + 5.5845612223492935e-06, + 6.0146685427753255e-06, + 6.064547960704658e-06, + 5.912990673095919e-06, + 5.7152628869516775e-06, + 5.661368049914017e-06, + 5.799580321763642e-06, + 5.999328550387872e-06, + 6.239628419280052e-06, + 6.418836164812092e-06, + 6.545527867274359e-06, + 6.678558747807983e-06, + 6.553959792654496e-06, + 6.270257472351659e-06, + 6.082487288949778e-06, + 6.061228759790538e-06, + 6.073657004890265e-06, + 5.95777510170592e-06, + 5.706822321371874e-06, + 5.58561123398249e-06, + 5.7723468671611045e-06, + 6.150674380478449e-06, + 6.431933798012324e-06, + 6.549475074280053e-06, + 6.495790330518503e-06, + 6.366049092321191e-06, + 6.26971950623556e-06, + 6.341988409985788e-06, + 6.490527994174045e-06, + 6.770586878701579e-06, + 7.009963610471459e-06, + 7.346429811150301e-06, + 7.642751370440237e-06, + 7.702073162363376e-06, + 7.648624887224287e-06, + 7.774363439239096e-06, + 8.138850716932211e-06, + 8.478971722070128e-06, + 8.61368880578084e-06, + 8.761306162341498e-06, + 8.797874215815682e-06, + 8.777466973697301e-06, + 8.753185284149367e-06, + 9.08395213627955e-06, + 9.675500223238487e-06, + 1.0128932444786187e-05, + 9.960394891095348e-06, + 9.61315345193725e-06, + 9.351403605251107e-06, + 9.093925655179191e-06, + 9.051448614627589e-06, + 9.105062417802401e-06, + 9.11668121261755e-06, + 9.118130037677474e-06, + 9.15816690394422e-06, + 9.238827260560356e-06, + 9.341474651591852e-06, + 9.396273526363075e-06, + 9.585837688064203e-06, + 9.797650818654802e-06, + 1.0098279744852334e-05, + 1.0177520380239002e-05, + 1.0181714060308877e-05, + 1.0159406883758493e-05, + 1.0107733942277264e-05, + 9.973614396585617e-06, + 9.77731997409137e-06, + 9.705574484542012e-06, + 9.677520210971124e-06, + 9.706191121949814e-06, + 9.79941978584975e-06, + 9.921171113091987e-06, + 1.0018311513704248e-05, + 1.0178819138673134e-05, + 1.0537352864048444e-05, + 1.0921991815848742e-05, + 1.1279711543465964e-05, + 1.1454747436800972e-05, + 1.1698291928041726e-05, + 1.2035040526825469e-05, + 1.2287751815165393e-05, + 1.2393094038998242e-05, + 1.2459106073947623e-05, + 1.2474005416152067e-05, + 1.249984597961884e-05, + 1.2479180441005155e-05, + 1.2442373190424405e-05, + 1.2416150639182888e-05, + 1.2382820386847015e-05, + 1.2355855687928852e-05, + 1.2255885849299375e-05, + 1.2070344382664189e-05 + ] + ], + "episode_mean_losses": [ + 8.54688318696617e-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": 2.961041673188447e-06, + "observation_loss": 2.961041673188447e-06, + "chamfer": 2.511274033167865e-06, + "track": 4.4976769686400075e-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": 4.494676977628842e-05, + "observation_loss": 3.3360638553858735e-06, + "chamfer": 2.821926500473637e-06, + "track": 5.141374685990741e-07, + "acceleration": 4.161070683039725e-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": 2.73397581622703e-05, + "observation_loss": 3.759540049941279e-06, + "chamfer": 3.1713248063169885e-06, + "track": 5.882151867808716e-07, + "acceleration": 2.358021811232902e-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": 1.2963972039869986e-05, + "observation_loss": 4.6898771870473865e-06, + "chamfer": 3.900472620443907e-06, + "track": 7.894046802903176e-07, + "acceleration": 8.274094398075249e-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": 9.980198228731751e-06, + "observation_loss": 5.5845612223492935e-06, + "chamfer": 4.5612828216690104e-06, + "track": 1.0232782869934454e-06, + "acceleration": 4.395637006382458e-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": 7.700752576056402e-06, + "observation_loss": 6.0146685427753255e-06, + "chamfer": 4.846650426770793e-06, + "track": 1.1680183433782076e-06, + "acceleration": 1.6860842606547521e-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": 7.462945177394431e-06, + "observation_loss": 6.064547960704658e-06, + "chamfer": 4.855035058426438e-06, + "track": 1.2095127885913826e-06, + "acceleration": 1.3983971030029352e-06, + "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": 6.516585017379839e-06, + "observation_loss": 5.912990673095919e-06, + "chamfer": 4.734394678962417e-06, + "track": 1.1785957667598268e-06, + "acceleration": 6.035944011273386e-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": 6.595694685529452e-06, + "observation_loss": 5.7152628869516775e-06, + "chamfer": 4.592478489939822e-06, + "track": 1.1227841696381802e-06, + "acceleration": 8.804315712040989e-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": 6.559808753081597e-06, + "observation_loss": 5.661368049914017e-06, + "chamfer": 4.576239916787017e-06, + "track": 1.085128246813838e-06, + "acceleration": 8.984404757939046e-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": 6.275583928072592e-06, + "observation_loss": 5.799580321763642e-06, + "chamfer": 4.715252543974202e-06, + "track": 1.0843280051631154e-06, + "acceleration": 4.760035210438218e-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": 6.314854545053095e-06, + "observation_loss": 5.999328550387872e-06, + "chamfer": 4.88906789541943e-06, + "track": 1.1102605412816047e-06, + "acceleration": 3.1552579571325623e-07, + "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": 6.7729874899669085e-06, + "observation_loss": 6.239628419280052e-06, + "chamfer": 5.101150236441754e-06, + "track": 1.1384781828382984e-06, + "acceleration": 5.333590138434374e-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": 6.944016149645904e-06, + "observation_loss": 6.418836164812092e-06, + "chamfer": 5.259375939203892e-06, + "track": 1.1594602256081998e-06, + "acceleration": 5.251799279903935e-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": 6.673938969470328e-06, + "observation_loss": 6.545527867274359e-06, + "chamfer": 5.37258665644913e-06, + "track": 1.1729413245120668e-06, + "acceleration": 1.2841113061767828e-07, + "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": 6.956960987736238e-06, + "observation_loss": 6.678558747807983e-06, + "chamfer": 5.4867632570676506e-06, + "track": 1.1917957181140082e-06, + "acceleration": 2.7840241045851144e-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": 6.835040949226823e-06, + "observation_loss": 6.553959792654496e-06, + "chamfer": 5.389052603277378e-06, + "track": 1.164907189377118e-06, + "acceleration": 2.810813271025836e-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": 6.513431344501441e-06, + "observation_loss": 6.270257472351659e-06, + "chamfer": 5.172031251277076e-06, + "track": 1.098226221074583e-06, + "acceleration": 2.4317375846294453e-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": 6.232237865333445e-06, + "observation_loss": 6.082487288949778e-06, + "chamfer": 5.03272576679592e-06, + "track": 1.049761522153858e-06, + "acceleration": 1.497505053293935e-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": 6.1823548094253056e-06, + "observation_loss": 6.061228759790538e-06, + "chamfer": 5.019310265197419e-06, + "track": 1.041918608279957e-06, + "acceleration": 1.211262485867337e-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": 6.2613958107249346e-06, + "observation_loss": 6.073657004890265e-06, + "chamfer": 5.027502538723638e-06, + "track": 1.0461545798534644e-06, + "acceleration": 1.8773884846723377e-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": 6.152280093374429e-06, + "observation_loss": 5.95777510170592e-06, + "chamfer": 4.940992312185699e-06, + "track": 1.0167830168938963e-06, + "acceleration": 1.9450504851192818e-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": 5.888317900826223e-06, + "observation_loss": 5.706822321371874e-06, + "chamfer": 4.747018920170376e-06, + "track": 9.5980328751466e-07, + "acceleration": 1.8149556524349464e-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": 5.71261716686422e-06, + "observation_loss": 5.58561123398249e-06, + "chamfer": 4.643894044420449e-06, + "track": 9.417170190317847e-07, + "acceleration": 1.2700597551429382e-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": 5.90344416195876e-06, + "observation_loss": 5.7723468671611045e-06, + "chamfer": 4.7736648411955684e-06, + "track": 9.986819122786983e-07, + "acceleration": 1.3109728058680048e-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": 6.4496421146031935e-06, + "observation_loss": 6.150674380478449e-06, + "chamfer": 5.0488938541093376e-06, + "track": 1.1017806400559493e-06, + "acceleration": 2.9896776254645374e-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": 6.75495675750426e-06, + "observation_loss": 6.431933798012324e-06, + "chamfer": 5.250560661806958e-06, + "track": 1.1813729088316904e-06, + "acceleration": 3.230227605399705e-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": 6.777472663088702e-06, + "observation_loss": 6.549475074280053e-06, + "chamfer": 5.341558335203445e-06, + "track": 1.2079167390766088e-06, + "acceleration": 2.2799754617608414e-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": 6.989293069636915e-06, + "observation_loss": 6.495790330518503e-06, + "chamfer": 5.307138508214848e-06, + "track": 1.1886518223036546e-06, + "acceleration": 4.935026254315744e-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": 6.609672709601e-06, + "observation_loss": 6.366049092321191e-06, + "chamfer": 5.211973530094838e-06, + "track": 1.1540754485395155e-06, + "acceleration": 2.436236457015184e-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": 6.33995296084322e-06, + "observation_loss": 6.26971950623556e-06, + "chamfer": 5.14290059072664e-06, + "track": 1.126819029195758e-06, + "acceleration": 7.023339776424109e-08, + "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": 6.387097073456971e-06, + "observation_loss": 6.341988409985788e-06, + "chamfer": 5.203570708545158e-06, + "track": 1.1384175877537928e-06, + "acceleration": 4.5108468071930474e-08, + "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": 6.5470107983856e-06, + "observation_loss": 6.490527994174045e-06, + "chamfer": 5.322512151906267e-06, + "track": 1.1680160696414532e-06, + "acceleration": 5.648259104873432e-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": 6.875789040350355e-06, + "observation_loss": 6.770586878701579e-06, + "chamfer": 5.5297523431363516e-06, + "track": 1.2408344218783895e-06, + "acceleration": 1.0520208348907545e-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": 7.0960322773316875e-06, + "observation_loss": 7.009963610471459e-06, + "chamfer": 5.712573965865886e-06, + "track": 1.2973895309187355e-06, + "acceleration": 8.60687521253567e-08, + "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": 7.484401521651307e-06, + "observation_loss": 7.346429811150301e-06, + "chamfer": 5.962422164884629e-06, + "track": 1.3840075325788348e-06, + "acceleration": 1.3797186682040774e-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": 7.699402885918971e-06, + "observation_loss": 7.642751370440237e-06, + "chamfer": 6.177015620778548e-06, + "track": 1.4657358633485273e-06, + "acceleration": 5.6651845881106055e-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": 8.072439413808752e-06, + "observation_loss": 7.702073162363376e-06, + "chamfer": 6.230069175217068e-06, + "track": 1.472004214519984e-06, + "acceleration": 3.703664503973414e-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": 7.790105883032084e-06, + "observation_loss": 7.648624887224287e-06, + "chamfer": 6.211631898622727e-06, + "track": 1.4369929886015598e-06, + "acceleration": 1.4148123739232688e-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": 7.966472367115784e-06, + "observation_loss": 7.774363439239096e-06, + "chamfer": 6.309561285888776e-06, + "track": 1.4648018122898065e-06, + "acceleration": 1.9210848734019237e-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": 8.386945410165936e-06, + "observation_loss": 8.138850716932211e-06, + "chamfer": 6.568227945535909e-06, + "track": 1.570622657709464e-06, + "acceleration": 2.4809449428175867e-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": 8.646340575069189e-06, + "observation_loss": 8.478971722070128e-06, + "chamfer": 6.803130418120418e-06, + "track": 1.6758414176365477e-06, + "acceleration": 1.673691940595745e-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": 8.711473128641956e-06, + "observation_loss": 8.61368880578084e-06, + "chamfer": 6.878483873151708e-06, + "track": 1.735205273689644e-06, + "acceleration": 9.778434417739845e-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": 8.808847269392572e-06, + "observation_loss": 8.761306162341498e-06, + "chamfer": 6.972740266064648e-06, + "track": 1.7885656689031748e-06, + "acceleration": 4.754141613716456e-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": 8.878093467501458e-06, + "observation_loss": 8.797874215815682e-06, + "chamfer": 6.9922466536809225e-06, + "track": 1.805627789508435e-06, + "acceleration": 8.021935116175882e-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": 8.866491953085642e-06, + "observation_loss": 8.777466973697301e-06, + "chamfer": 6.976799795666011e-06, + "track": 1.80066717803129e-06, + "acceleration": 8.902473069838379e-08, + "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": 8.958492799138185e-06, + "observation_loss": 8.753185284149367e-06, + "chamfer": 6.955831395316636e-06, + "track": 1.7973537751458935e-06, + "acceleration": 2.0530751498881727e-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": 9.217424121743534e-06, + "observation_loss": 9.08395213627955e-06, + "chamfer": 7.178404757723911e-06, + "track": 1.9055471511819633e-06, + "acceleration": 1.3347205651825789e-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": 9.760353350429796e-06, + "observation_loss": 9.675500223238487e-06, + "chamfer": 7.560783160442952e-06, + "track": 2.1147170627955347e-06, + "acceleration": 8.485296376647966e-08, + "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": 1.0390832358098123e-05, + "observation_loss": 1.0128932444786187e-05, + "chamfer": 7.864047802286223e-06, + "track": 2.2648844151262892e-06, + "acceleration": 2.6189988489022653e-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": 1.0094854587805457e-05, + "observation_loss": 9.960394891095348e-06, + "chamfer": 7.756475497444626e-06, + "track": 2.2039193936507218e-06, + "acceleration": 1.344601514574606e-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": 9.78035677690059e-06, + "observation_loss": 9.61315345193725e-06, + "chamfer": 7.5401262620289344e-06, + "track": 2.0730276446556672e-06, + "acceleration": 1.672029839028255e-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": 9.394007975060958e-06, + "observation_loss": 9.351403605251107e-06, + "chamfer": 7.37134496375802e-06, + "track": 1.980058414119412e-06, + "acceleration": 4.26042277013039e-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": 9.145106560026761e-06, + "observation_loss": 9.093925655179191e-06, + "chamfer": 7.183150046330411e-06, + "track": 1.9107756088487804e-06, + "acceleration": 5.118070944831743e-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": 9.110701284953393e-06, + "observation_loss": 9.051448614627589e-06, + "chamfer": 7.145516065065749e-06, + "track": 1.9059324358750018e-06, + "acceleration": 5.925244650484274e-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": 9.184533155348618e-06, + "observation_loss": 9.105062417802401e-06, + "chamfer": 7.176409781095572e-06, + "track": 1.9286528640805045e-06, + "acceleration": 7.947105018502043e-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": 9.172318641503807e-06, + "observation_loss": 9.11668121261755e-06, + "chamfer": 7.180941793194506e-06, + "track": 1.9357391920493683e-06, + "acceleration": 5.5637066509461874e-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": 9.258332283934578e-06, + "observation_loss": 9.118130037677474e-06, + "chamfer": 7.158256721595535e-06, + "track": 1.9598728613345884e-06, + "acceleration": 1.4020248784163414e-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": 9.451419828110375e-06, + "observation_loss": 9.15816690394422e-06, + "chamfer": 7.185000413301168e-06, + "track": 1.973166718016728e-06, + "acceleration": 2.932525546839315e-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": 9.8854225143441e-06, + "observation_loss": 9.238827260560356e-06, + "chamfer": 7.215014647954376e-06, + "track": 2.023812839979655e-06, + "acceleration": 6.465948558798118e-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": 1.0224362085864414e-05, + "observation_loss": 9.341474651591852e-06, + "chamfer": 7.2841221481212415e-06, + "track": 2.0573527308442863e-06, + "acceleration": 8.828873205857235e-07, + "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": 9.830485396378208e-06, + "observation_loss": 9.396273526363075e-06, + "chamfer": 7.3201017585233785e-06, + "track": 2.0761717678396963e-06, + "acceleration": 4.342119837019709e-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": 9.719253284856677e-06, + "observation_loss": 9.585837688064203e-06, + "chamfer": 7.453189027728513e-06, + "track": 2.1326484329620143e-06, + "acceleration": 1.3341517046683293e-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": 9.87849216471659e-06, + "observation_loss": 9.797650818654802e-06, + "chamfer": 7.582292710139882e-06, + "track": 2.21535810851492e-06, + "acceleration": 8.084143132691679e-08, + "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": 1.0148552973987535e-05, + "observation_loss": 1.0098279744852334e-05, + "chamfer": 7.770840056764428e-06, + "track": 2.327439915461582e-06, + "acceleration": 5.0273570195713546e-08, + "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": 1.0220925105386414e-05, + "observation_loss": 1.0177520380239002e-05, + "chamfer": 7.815359822416212e-06, + "track": 2.3621607851964654e-06, + "acceleration": 4.340454751172729e-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": 1.0366649803472683e-05, + "observation_loss": 1.0181714060308877e-05, + "chamfer": 7.803022526786663e-06, + "track": 2.3786915335222147e-06, + "acceleration": 1.8493545894671115e-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": 1.02645226434106e-05, + "observation_loss": 1.0159406883758493e-05, + "chamfer": 7.746640221739653e-06, + "track": 2.4127668893925147e-06, + "acceleration": 1.0511619308317677e-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": 1.0182759069721214e-05, + "observation_loss": 1.0107733942277264e-05, + "chamfer": 7.686764547543135e-06, + "track": 2.420969167360454e-06, + "acceleration": 7.502526244707042e-08, + "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": 1.021324351313524e-05, + "observation_loss": 9.973614396585617e-06, + "chamfer": 7.601400284329429e-06, + "track": 2.3722138848825125e-06, + "acceleration": 2.396286902239808e-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": 1.0363043656980153e-05, + "observation_loss": 9.77731997409137e-06, + "chamfer": 7.493178145523416e-06, + "track": 2.2841420559416292e-06, + "acceleration": 5.857235123585269e-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": 1.0049226148112211e-05, + "observation_loss": 9.705574484542012e-06, + "chamfer": 7.440616627718555e-06, + "track": 2.264957629449782e-06, + "acceleration": 3.43651521461652e-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": 9.883193342830054e-06, + "observation_loss": 9.677520210971124e-06, + "chamfer": 7.42814336263109e-06, + "track": 2.2493773030873854e-06, + "acceleration": 2.0567321712405828e-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": 9.841633072937839e-06, + "observation_loss": 9.706191121949814e-06, + "chamfer": 7.452943464159034e-06, + "track": 2.253247203043429e-06, + "acceleration": 1.3544240573537536e-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": 9.874964234768413e-06, + "observation_loss": 9.79941978584975e-06, + "chamfer": 7.5201032814220525e-06, + "track": 2.279316731801373e-06, + "acceleration": 7.554442049695353e-08, + "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": 9.95689788396703e-06, + "observation_loss": 9.921171113091987e-06, + "chamfer": 7.5957195804221556e-06, + "track": 2.325451532669831e-06, + "acceleration": 3.572641560367629e-08, + "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": 1.0106678928423207e-05, + "observation_loss": 1.0018311513704248e-05, + "chamfer": 7.6254596024227794e-06, + "track": 2.392851683907793e-06, + "acceleration": 8.836735077011326e-08, + "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": 1.033357602864271e-05, + "observation_loss": 1.0178819138673134e-05, + "chamfer": 7.70034603192471e-06, + "track": 2.4784731067484245e-06, + "acceleration": 1.5475687575872143e-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": 1.0736169315350708e-05, + "observation_loss": 1.0537352864048444e-05, + "chamfer": 7.878403266659006e-06, + "track": 2.6589498247631127e-06, + "acceleration": 1.988162807720073e-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": 1.1151197213621344e-05, + "observation_loss": 1.0921991815848742e-05, + "chamfer": 8.074969628069084e-06, + "track": 2.847021960405982e-06, + "acceleration": 2.292055398811499e-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": 1.1475573046482168e-05, + "observation_loss": 1.1279711543465964e-05, + "chamfer": 8.275226718978956e-06, + "track": 3.0044843697396573e-06, + "acceleration": 1.9586157407047722e-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": 1.1564181477297097e-05, + "observation_loss": 1.1454747436800972e-05, + "chamfer": 8.357276783499401e-06, + "track": 3.0974701985542197e-06, + "acceleration": 1.0943358574877493e-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": 1.1941253433178645e-05, + "observation_loss": 1.1698291928041726e-05, + "chamfer": 8.509606232109945e-06, + "track": 3.18868524118443e-06, + "acceleration": 2.429612493415334e-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": 1.2266425983398221e-05, + "observation_loss": 1.2035040526825469e-05, + "chamfer": 8.709349458513316e-06, + "track": 3.3256912956858287e-06, + "acceleration": 2.3138565552471846e-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": 1.2375355254334863e-05, + "observation_loss": 1.2287751815165393e-05, + "chamfer": 8.84741803020006e-06, + "track": 3.440333557591657e-06, + "acceleration": 8.760314784694856e-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": 1.2470140063669533e-05, + "observation_loss": 1.2393094038998242e-05, + "chamfer": 8.896863619156647e-06, + "track": 3.4962306472152704e-06, + "acceleration": 7.704564097821276e-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": 1.2526964383141603e-05, + "observation_loss": 1.2459106073947623e-05, + "chamfer": 8.936263839132152e-06, + "track": 3.522842234815471e-06, + "acceleration": 6.785805339859508e-08, + "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": 1.2530765161500312e-05, + "observation_loss": 1.2474005416152067e-05, + "chamfer": 8.918445928429719e-06, + "track": 3.5555590329749975e-06, + "acceleration": 5.675952507999682e-08, + "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": 1.2549268831207883e-05, + "observation_loss": 1.249984597961884e-05, + "chamfer": 8.909892130759545e-06, + "track": 3.5899533941119444e-06, + "acceleration": 4.9422673953358753e-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": 1.2617646461876575e-05, + "observation_loss": 1.2479180441005155e-05, + "chamfer": 8.904700735001825e-06, + "track": 3.574479478629655e-06, + "acceleration": 1.3846600666056474e-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": 1.2582831004692707e-05, + "observation_loss": 1.2442373190424405e-05, + "chamfer": 8.883559530659113e-06, + "track": 3.558813205017941e-06, + "acceleration": 1.4045808427454176e-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": 1.2438949852366932e-05, + "observation_loss": 1.2416150639182888e-05, + "chamfer": 8.855088708514813e-06, + "track": 3.5610623854154255e-06, + "acceleration": 2.279892896694946e-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": 1.2439372767403256e-05, + "observation_loss": 1.2382820386847015e-05, + "chamfer": 8.822490599413868e-06, + "track": 3.560330014806823e-06, + "acceleration": 5.6552654115193945e-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": 1.2474580216803588e-05, + "observation_loss": 1.2355855687928852e-05, + "chamfer": 8.797789632808417e-06, + "track": 3.55806628249411e-06, + "acceleration": 1.1872472782670229e-07, + "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": 1.2368434909149073e-05, + "observation_loss": 1.2255885849299375e-05, + "chamfer": 8.74246507009957e-06, + "track": 3.5134210065734806e-06, + "acceleration": 1.1254890353029623e-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": 1.2114066521462519e-05, + "observation_loss": 1.2070344382664189e-05, + "chamfer": 8.641599379188847e-06, + "track": 3.428745003475342e-06, + "acceleration": 4.372184037038096e-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": 9.579903261188369e-06, + "chamfer_mean": 6.625501958031539e-06, + "track_mean": 1.9213812141316566e-06, + "acceleration_mean": 1.033020041063537e-06, + "observation_score": 8.54688318696617e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4303077469994605 + }, + "score_arrays_file": "pass_scores/pass_end_0130.npz", + "score_arrays_sha256": "a18bd3f2f61bc943cb0fe4a06027139045e7c55ecae73d8c05ce2e7bb966e299" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0131.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0131.json new file mode 100644 index 0000000000000000000000000000000000000000..544a1d8a3915f69acd91c913e5a4a05398623cc4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0131.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12576, + "completed_passes": 131, + "snapshot": "pass_end_0131", + "candidate": true, + "snapshot_arrays_sha256": "d0f15fbcb750d1409fc410f4ac95b9dc81b5cdc318a0b3d0fe46789e43e917a3", + "score": 8.536356287910015e-06, + "score_result": { + "score": 8.536356287910015e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9602431368402904e-06, + 3.333333552291151e-06, + 3.7533586692006793e-06, + 4.676028765970841e-06, + 5.5678410717519e-06, + 5.995364972477546e-06, + 6.0435786508605815e-06, + 5.894374226045329e-06, + 5.69620669921278e-06, + 5.644539214699762e-06, + 5.785335360997124e-06, + 5.982673428661656e-06, + 6.224915068742121e-06, + 6.401935934263747e-06, + 6.527161531266756e-06, + 6.66057667331188e-06, + 6.533860414492665e-06, + 6.249857506190892e-06, + 6.062509783077985e-06, + 6.0394841057132e-06, + 6.050564479664899e-06, + 5.933681222813902e-06, + 5.682974006049335e-06, + 5.5626842367928475e-06, + 5.747196155425627e-06, + 6.1226355683174916e-06, + 6.404043233487755e-06, + 6.5239805735473055e-06, + 6.474067504314007e-06, + 6.3458001022809185e-06, + 6.2507660913979635e-06, + 6.323519755824236e-06, + 6.47409979137592e-06, + 6.7534697336668614e-06, + 6.992756425461266e-06, + 7.328778337978292e-06, + 7.62392619435559e-06, + 7.6835149229737e-06, + 7.627876584592741e-06, + 7.752456440357491e-06, + 8.115194759739097e-06, + 8.456185241811909e-06, + 8.590108336647972e-06, + 8.737049029150512e-06, + 8.774239177000709e-06, + 8.754292139201425e-06, + 8.731894922675565e-06, + 9.06483364815358e-06, + 9.659011084295344e-06, + 1.0114089491253253e-05, + 9.946717909770086e-06, + 9.599575605534483e-06, + 9.336977200291585e-06, + 9.080256859306246e-06, + 9.037197742145509e-06, + 9.0898774942616e-06, + 9.102791409532074e-06, + 9.105180652113631e-06, + 9.146123375103343e-06, + 9.227047485182993e-06, + 9.331697583547793e-06, + 9.388785656483378e-06, + 9.580854566593189e-06, + 9.796333870326634e-06, + 1.0102548912982456e-05, + 1.0185762221226469e-05, + 1.0191994078923017e-05, + 1.0172338988923002e-05, + 1.0122850653715432e-05, + 9.988912097469438e-06, + 9.791680895432364e-06, + 9.718191904539708e-06, + 9.688237696536817e-06, + 9.7138272394659e-06, + 9.805892659642268e-06, + 9.926366146828514e-06, + 1.0022133210441098e-05, + 1.017982231132919e-05, + 1.0537119123910088e-05, + 1.0920384738710709e-05, + 1.12784982775338e-05, + 1.1453723345766775e-05, + 1.1696169167407788e-05, + 1.2033247003273573e-05, + 1.2285745469853282e-05, + 1.2391345080686733e-05, + 1.2457695447665174e-05, + 1.2472151865949854e-05, + 1.249853812623769e-05, + 1.2477359632612206e-05, + 1.2441325452527963e-05, + 1.2414680895744823e-05, + 1.2381764463498257e-05, + 1.2355433682387229e-05, + 1.2255291949259117e-05, + 1.2070885532011744e-05 + ] + ], + "episode_mean_losses": [ + 8.536356287910015e-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": 2.9602431368402904e-06, + "observation_loss": 2.9602431368402904e-06, + "chamfer": 2.5106119210249744e-06, + "track": 4.496311589718971e-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": 4.4872733269585297e-05, + "observation_loss": 3.333333552291151e-06, + "chamfer": 2.8196429866511608e-06, + "track": 5.136905656399904e-07, + "acceleration": 4.1539398807799444e-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": 2.7281650545774028e-05, + "observation_loss": 3.7533586692006793e-06, + "chamfer": 3.16632645080972e-06, + "track": 5.87032332077797e-07, + "acceleration": 2.3528291421825998e-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": 1.293111199629493e-05, + "observation_loss": 4.676028765970841e-06, + "chamfer": 3.889979780069552e-06, + "track": 7.860489290578698e-07, + "acceleration": 8.25508323032409e-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": 9.964342098101042e-06, + "observation_loss": 5.5678410717519e-06, + "chamfer": 4.549729055725038e-06, + "track": 1.0181122434005374e-06, + "acceleration": 4.396500571601791e-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": 7.679007467231713e-06, + "observation_loss": 5.995364972477546e-06, + "chamfer": 4.834022547584027e-06, + "track": 1.1613423112066812e-06, + "acceleration": 1.6836428358146804e-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": 7.4138583840976935e-06, + "observation_loss": 6.0435786508605815e-06, + "chamfer": 4.841334884986281e-06, + "track": 1.2022436521874624e-06, + "acceleration": 1.370279733237112e-06, + "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": 6.4903683778538834e-06, + "observation_loss": 5.894374226045329e-06, + "chamfer": 4.722318863059627e-06, + "track": 1.1720551356120268e-06, + "acceleration": 5.959943223388109e-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": 6.591949386347551e-06, + "observation_loss": 5.69620669921278e-06, + "chamfer": 4.579784672387177e-06, + "track": 1.1164221405124408e-06, + "acceleration": 8.957428008216084e-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": 6.536410637636436e-06, + "observation_loss": 5.644539214699762e-06, + "chamfer": 4.564968094200594e-06, + "track": 1.0795712341860053e-06, + "acceleration": 8.918714229366742e-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": 6.242267318157246e-06, + "observation_loss": 5.785335360997124e-06, + "chamfer": 4.70583290734794e-06, + "track": 1.079502339962346e-06, + "acceleration": 4.569321276903793e-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": 6.320075954135973e-06, + "observation_loss": 5.982673428661656e-06, + "chamfer": 4.877531864622142e-06, + "track": 1.1051414503526757e-06, + "acceleration": 3.374024686308985e-07, + "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": 6.787756319681648e-06, + "observation_loss": 6.224915068742121e-06, + "chamfer": 5.091048478789162e-06, + "track": 1.133866476266121e-06, + "acceleration": 5.628414214697841e-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": 6.890597887831973e-06, + "observation_loss": 6.401935934263747e-06, + "chamfer": 5.247100034466712e-06, + "track": 1.1548358997970354e-06, + "acceleration": 4.886620672550634e-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": 6.65061452309601e-06, + "observation_loss": 6.527161531266756e-06, + "chamfer": 5.359071110433433e-06, + "track": 1.1680905345201609e-06, + "acceleration": 1.2345317657036503e-07, + "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": 6.981494607316563e-06, + "observation_loss": 6.66057667331188e-06, + "chamfer": 5.473549208545592e-06, + "track": 1.1870273510794505e-06, + "acceleration": 3.2091793400468305e-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": 6.814792868681252e-06, + "observation_loss": 6.533860414492665e-06, + "chamfer": 5.373987733037211e-06, + "track": 1.1598725677686161e-06, + "acceleration": 2.8093225523662113e-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": 6.495067736977944e-06, + "observation_loss": 6.249857506190892e-06, + "chamfer": 5.156415227247635e-06, + "track": 1.0934423926300951e-06, + "acceleration": 2.452102876304707e-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": 6.213876531546703e-06, + "observation_loss": 6.062509783077985e-06, + "chamfer": 5.017255716666114e-06, + "track": 1.0452539527250337e-06, + "acceleration": 1.5136690478811943e-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": 6.160468274174491e-06, + "observation_loss": 6.0394841057132e-06, + "chamfer": 5.002370016882196e-06, + "track": 1.0371143162046792e-06, + "acceleration": 1.209839695093251e-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": 6.239400136109907e-06, + "observation_loss": 6.050564479664899e-06, + "chamfer": 5.009550477552693e-06, + "track": 1.0410137747385306e-06, + "acceleration": 1.8883565644500777e-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": 6.1312630350585096e-06, + "observation_loss": 5.933681222813902e-06, + "chamfer": 4.922098923998419e-06, + "track": 1.011582412502321e-06, + "acceleration": 1.9758169855776941e-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": 5.865833372808993e-06, + "observation_loss": 5.682974006049335e-06, + "chamfer": 4.728019121102989e-06, + "track": 9.549546575726708e-07, + "acceleration": 1.8285938097051258e-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": 5.689202225767076e-06, + "observation_loss": 5.5626842367928475e-06, + "chamfer": 4.625487235898618e-06, + "track": 9.37196944050811e-07, + "acceleration": 1.2651791791995493e-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": 5.878825049876468e-06, + "observation_loss": 5.747196155425627e-06, + "chamfer": 4.753816028824076e-06, + "track": 9.93380012914713e-07, + "acceleration": 1.3162909340280748e-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": 6.4237437982228585e-06, + "observation_loss": 6.1226355683174916e-06, + "chamfer": 5.027136012358824e-06, + "track": 1.0954996696455055e-06, + "acceleration": 3.0110845727904234e-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": 6.729581400577445e-06, + "observation_loss": 6.404043233487755e-06, + "chamfer": 5.228983354754746e-06, + "track": 1.1750601061066845e-06, + "acceleration": 3.2553828077652724e-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": 6.753316029062262e-06, + "observation_loss": 6.5239805735473055e-06, + "chamfer": 5.321767275745515e-06, + "track": 1.2022132978017908e-06, + "acceleration": 2.29335668677777e-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": 6.967721219552914e-06, + "observation_loss": 6.474067504314007e-06, + "chamfer": 5.290328317641979e-06, + "track": 1.1837391866720282e-06, + "acceleration": 4.936536015520687e-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": 6.587179541384103e-06, + "observation_loss": 6.3458001022809185e-06, + "chamfer": 5.196003257879056e-06, + "track": 1.149796617028187e-06, + "acceleration": 2.41379353838056e-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": 6.320552074612351e-06, + "observation_loss": 6.2507660913979635e-06, + "chamfer": 5.12796214025002e-06, + "track": 1.1228037237742683e-06, + "acceleration": 6.978611111208011e-08, + "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": 6.368235517584253e-06, + "observation_loss": 6.323519755824236e-06, + "chamfer": 5.188865543459542e-06, + "track": 1.1346543260515318e-06, + "acceleration": 4.471589321042302e-08, + "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": 6.5302051552862395e-06, + "observation_loss": 6.47409979137592e-06, + "chamfer": 5.309343578119297e-06, + "track": 1.1647560995697859e-06, + "acceleration": 5.6105211143631095e-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": 6.857922471681377e-06, + "observation_loss": 6.7534697336668614e-06, + "chamfer": 5.516089458978968e-06, + "track": 1.237380161001056e-06, + "acceleration": 1.0445274511994285e-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": 7.080338491505245e-06, + "observation_loss": 6.992756425461266e-06, + "chamfer": 5.698926088371081e-06, + "track": 1.293830337090185e-06, + "acceleration": 8.758225789051721e-08, + "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": 7.469659067282919e-06, + "observation_loss": 7.328778337978292e-06, + "chamfer": 5.948620128037874e-06, + "track": 1.380158437314094e-06, + "acceleration": 1.4088054456351529e-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": 7.681305760343093e-06, + "observation_loss": 7.62392619435559e-06, + "chamfer": 6.162591034808429e-06, + "track": 1.461335273233999e-06, + "acceleration": 5.737970454333663e-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": 8.05580202722922e-06, + "observation_loss": 7.6835149229737e-06, + "chamfer": 6.216008387127658e-06, + "track": 1.4675064221592038e-06, + "acceleration": 3.7228704741210095e-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": 7.769513103994541e-06, + "observation_loss": 7.627876584592741e-06, + "chamfer": 6.195873538672458e-06, + "track": 1.432003273293958e-06, + "acceleration": 1.4163626360641501e-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": 7.944615390442777e-06, + "observation_loss": 7.752456440357491e-06, + "chamfer": 6.2934141169535e-06, + "track": 1.4590427781513426e-06, + "acceleration": 1.921585237596446e-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": 8.36431445350172e-06, + "observation_loss": 8.115194759739097e-06, + "chamfer": 6.5509084379300475e-06, + "track": 1.5642864354958874e-06, + "acceleration": 2.491192674369813e-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": 8.625168447906617e-06, + "observation_loss": 8.456185241811909e-06, + "chamfer": 6.786689937143819e-06, + "track": 1.6694957594154403e-06, + "acceleration": 1.6898316346214415e-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": 8.687791705597192e-06, + "observation_loss": 8.590108336647972e-06, + "chamfer": 6.8613685471063945e-06, + "track": 1.7287399032284156e-06, + "acceleration": 9.768321262981772e-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": 8.78417085914407e-06, + "observation_loss": 8.737049029150512e-06, + "chamfer": 6.9553616413031705e-06, + "track": 1.7816873878473416e-06, + "acceleration": 4.7122181712211386e-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": 8.85476401890628e-06, + "observation_loss": 8.774239177000709e-06, + "chamfer": 6.975258656893857e-06, + "track": 1.7989806337936898e-06, + "acceleration": 8.052440136907535e-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": 8.844263902574312e-06, + "observation_loss": 8.754292139201425e-06, + "chamfer": 6.9599936978193e-06, + "track": 1.794298896129476e-06, + "acceleration": 8.997160705348506e-08, + "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": 8.938364771893248e-06, + "observation_loss": 8.731894922675565e-06, + "chamfer": 6.940348157513654e-06, + "track": 1.7915468788487487e-06, + "acceleration": 2.0647030396503396e-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": 9.198526640830096e-06, + "observation_loss": 9.06483364815358e-06, + "chamfer": 7.164668659243034e-06, + "track": 1.900164761536871e-06, + "acceleration": 1.3369289320053213e-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": 9.743865120981354e-06, + "observation_loss": 9.659011084295344e-06, + "chamfer": 7.549184374511242e-06, + "track": 2.1098264824104263e-06, + "acceleration": 8.485358904408713e-08, + "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": 1.0377156286267564e-05, + "observation_loss": 1.0114089491253253e-05, + "chamfer": 7.853671377233695e-06, + "track": 2.2604178866458824e-06, + "acceleration": 2.630667665926012e-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": 1.0083396773552522e-05, + "observation_loss": 9.946717909770086e-06, + "chamfer": 7.746901246719062e-06, + "track": 2.199817117798375e-06, + "acceleration": 1.3667920484294882e-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": 9.767982191988267e-06, + "observation_loss": 9.599575605534483e-06, + "chamfer": 7.530682069045724e-06, + "track": 2.0688935364887584e-06, + "acceleration": 1.684067285623314e-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": 9.379423318023328e-06, + "observation_loss": 9.336977200291585e-06, + "chamfer": 7.361183179455111e-06, + "track": 1.975793793462799e-06, + "acceleration": 4.244656537366609e-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": 9.131296792475041e-06, + "observation_loss": 9.080256859306246e-06, + "chamfer": 7.173674930527341e-06, + "track": 1.9065823835262563e-06, + "acceleration": 5.103949263229879e-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": 9.095637324207928e-06, + "observation_loss": 9.037197742145509e-06, + "chamfer": 7.135658961487934e-06, + "track": 1.9015387806575745e-06, + "acceleration": 5.843961403684261e-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": 9.169393706542905e-06, + "observation_loss": 9.0898774942616e-06, + "chamfer": 7.16577960702125e-06, + "track": 1.9240978872403502e-06, + "acceleration": 7.951628333557892e-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": 9.161799425783101e-06, + "observation_loss": 9.102791409532074e-06, + "chamfer": 7.171305242081871e-06, + "track": 1.9314861674502026e-06, + "acceleration": 5.900799138203183e-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": 9.247038178727962e-06, + "observation_loss": 9.105180652113631e-06, + "chamfer": 7.149445082177408e-06, + "track": 1.9557357973098988e-06, + "acceleration": 1.4185758345774957e-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": 9.442422197025735e-06, + "observation_loss": 9.146123375103343e-06, + "chamfer": 7.176928193075582e-06, + "track": 1.9691954094014363e-06, + "acceleration": 2.962986798138445e-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": 9.879394383460749e-06, + "observation_loss": 9.227047485182993e-06, + "chamfer": 7.207248927443288e-06, + "track": 2.0197990124870557e-06, + "acceleration": 6.523469551211747e-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": 1.0222280252492055e-05, + "observation_loss": 9.331697583547793e-06, + "chamfer": 7.277932127180975e-06, + "track": 2.0537654563668184e-06, + "acceleration": 8.905828963179374e-07, + "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": 9.826955647440627e-06, + "observation_loss": 9.388785656483378e-06, + "chamfer": 7.315593848034041e-06, + "track": 2.0731920358230127e-06, + "acceleration": 4.3816999095724896e-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": 9.716085514810402e-06, + "observation_loss": 9.580854566593189e-06, + "chamfer": 7.4504628173599485e-06, + "track": 2.1303917492332403e-06, + "acceleration": 1.3523134612114518e-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": 9.879680874291807e-06, + "observation_loss": 9.796333870326634e-06, + "chamfer": 7.581702448078431e-06, + "track": 2.2146316496218788e-06, + "acceleration": 8.334708923030121e-08, + "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": 1.0153129551326856e-05, + "observation_loss": 1.0102548912982456e-05, + "chamfer": 7.774146070005372e-06, + "track": 2.3284028429770842e-06, + "acceleration": 5.05801907024761e-08, + "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": 1.0229101462755352e-05, + "observation_loss": 1.0185762221226469e-05, + "chamfer": 7.821064173185732e-06, + "track": 2.3646985027880874e-06, + "acceleration": 4.333895731178927e-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": 1.0377232683822513e-05, + "observation_loss": 1.0191994078923017e-05, + "chamfer": 7.810126589902211e-06, + "track": 2.381867489020806e-06, + "acceleration": 1.8523871858633356e-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": 1.0277945875714067e-05, + "observation_loss": 1.0172338988923002e-05, + "chamfer": 7.755940714559983e-06, + "track": 2.416398501736694e-06, + "acceleration": 1.0560733443298886e-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": 1.0197940355283208e-05, + "observation_loss": 1.0122850653715432e-05, + "chamfer": 7.697558430663776e-06, + "track": 2.4252919956779806e-06, + "acceleration": 7.50894670886737e-08, + "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": 1.0230415682599414e-05, + "observation_loss": 9.988912097469438e-06, + "chamfer": 7.612186436745105e-06, + "track": 2.376725888098008e-06, + "acceleration": 2.4150347144313855e-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": 1.0380841558799148e-05, + "observation_loss": 9.791680895432364e-06, + "chamfer": 7.503271717723692e-06, + "track": 2.288409405082348e-06, + "acceleration": 5.891606065233645e-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": 1.0065325113828294e-05, + "observation_loss": 9.718191904539708e-06, + "chamfer": 7.449002623616252e-06, + "track": 2.269189280923456e-06, + "acceleration": 3.4713340824055194e-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": 9.894576578517444e-06, + "observation_loss": 9.688237696536817e-06, + "chamfer": 7.434949566231808e-06, + "track": 2.2532879029313335e-06, + "acceleration": 2.0633905251088436e-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": 9.848691661318298e-06, + "observation_loss": 9.7138272394659e-06, + "chamfer": 7.457595984305954e-06, + "track": 2.2562308004125953e-06, + "acceleration": 1.3486460659350996e-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": 9.882229278446175e-06, + "observation_loss": 9.805892659642268e-06, + "chamfer": 7.5242169259581715e-06, + "track": 2.281675961057772e-06, + "acceleration": 7.633649090621475e-08, + "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": 9.962785952666309e-06, + "observation_loss": 9.926366146828514e-06, + "chamfer": 7.599131095048506e-06, + "track": 2.3272352791536832e-06, + "acceleration": 3.6420228610722916e-08, + "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": 1.0113488315255381e-05, + "observation_loss": 1.0022133210441098e-05, + "chamfer": 7.6278624874248635e-06, + "track": 2.3942704956425587e-06, + "acceleration": 9.135514034142034e-08, + "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": 1.0337497769796755e-05, + "observation_loss": 1.017982231132919e-05, + "chamfer": 7.700979949731845e-06, + "track": 2.4788423615973443e-06, + "acceleration": 1.5767521688303532e-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": 1.0737482625700068e-05, + "observation_loss": 1.0537119123910088e-05, + "chamfer": 7.878223186708055e-06, + "track": 2.6588959372020327e-06, + "acceleration": 2.003636581093815e-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": 1.115211853175424e-05, + "observation_loss": 1.0920384738710709e-05, + "chamfer": 8.073830940702464e-06, + "track": 2.8465537980082445e-06, + "acceleration": 2.3173366514583904e-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": 1.1477932275738567e-05, + "observation_loss": 1.12784982775338e-05, + "chamfer": 8.274544597952627e-06, + "track": 3.0039534522074973e-06, + "acceleration": 1.99434083469896e-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": 1.1565249224076979e-05, + "observation_loss": 1.1453723345766775e-05, + "chamfer": 8.356744729098864e-06, + "track": 3.0969781619205605e-06, + "acceleration": 1.115260204187507e-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": 1.1944593097723555e-05, + "observation_loss": 1.1696169167407788e-05, + "chamfer": 8.508219252689742e-06, + "track": 3.1879501420917222e-06, + "acceleration": 2.4842435664140794e-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": 1.2269641047168989e-05, + "observation_loss": 1.2033247003273573e-05, + "chamfer": 8.70869462232804e-06, + "track": 3.324552153571858e-06, + "acceleration": 2.3639363178062922e-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": 1.2375946425891016e-05, + "observation_loss": 1.2285745469853282e-05, + "chamfer": 8.846610398904886e-06, + "track": 3.4391355256957468e-06, + "acceleration": 9.020074287491298e-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": 1.2469690773286857e-05, + "observation_loss": 1.2391345080686733e-05, + "chamfer": 8.896461622498464e-06, + "track": 3.49488391293562e-06, + "acceleration": 7.83455718078585e-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": 1.2526053069450427e-05, + "observation_loss": 1.2457695447665174e-05, + "chamfer": 8.936325684771873e-06, + "track": 3.521369535519625e-06, + "acceleration": 6.835784205350137e-08, + "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": 1.2529601008282043e-05, + "observation_loss": 1.2472151865949854e-05, + "chamfer": 8.918171261029784e-06, + "track": 3.5539801501727197e-06, + "acceleration": 5.7448907853085984e-08, + "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": 1.2548989616334438e-05, + "observation_loss": 1.249853812623769e-05, + "chamfer": 8.90987394086551e-06, + "track": 3.588663957998506e-06, + "acceleration": 5.045171036499596e-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": 1.2618850632861722e-05, + "observation_loss": 1.2477359632612206e-05, + "chamfer": 8.904430615075398e-06, + "track": 3.5729287901631324e-06, + "acceleration": 1.4149105709293508e-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": 1.2585654985741712e-05, + "observation_loss": 1.2441325452527963e-05, + "chamfer": 8.883690497896168e-06, + "track": 3.557634727258119e-06, + "acceleration": 1.4432974637657026e-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": 1.2439674719644245e-05, + "observation_loss": 1.2414680895744823e-05, + "chamfer": 8.854991392581724e-06, + "track": 3.5596890484157484e-06, + "acceleration": 2.4993481062551837e-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": 1.2440013961168006e-05, + "observation_loss": 1.2381764463498257e-05, + "chamfer": 8.822680683806539e-06, + "track": 3.5590842344390694e-06, + "acceleration": 5.8249078449534863e-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": 1.2475372386688832e-05, + "observation_loss": 1.2355433682387229e-05, + "chamfer": 8.798486305749975e-06, + "track": 3.5569476040109294e-06, + "acceleration": 1.199384769279277e-07, + "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": 1.2368101124593522e-05, + "observation_loss": 1.2255291949259117e-05, + "chamfer": 8.742797035665717e-06, + "track": 3.512494686219725e-06, + "acceleration": 1.1280901901500329e-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": 1.2114715900679585e-05, + "observation_loss": 1.2070885532011744e-05, + "chamfer": 8.642567991046235e-06, + "track": 3.428317768339184e-06, + "acceleration": 4.383026919185795e-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": 9.56911414817796e-06, + "chamfer_mean": 6.617823909020141e-06, + "track_mean": 1.9185324019825125e-06, + "acceleration_mean": 1.0327578457055193e-06, + "observation_score": 8.536356287910015e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4315893209986825 + }, + "score_arrays_file": "pass_scores/pass_end_0131.npz", + "score_arrays_sha256": "55aa0f4fbc949992d210fc1b8ea7ab67eb7df959b6c206777e9a388b5066339e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0132.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0132.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6a0579a84fdc7c64cef47b77808c6ccdad7202 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0132.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12672, + "completed_passes": 132, + "snapshot": "pass_end_0132", + "candidate": true, + "snapshot_arrays_sha256": "d525d64c48b19cb8511d406db0dbf862465eb29abb1ed09b7d2d7edf6a4ae59b", + "score": 8.525226370181826e-06, + "score_result": { + "score": 8.525226370181826e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9594912120955996e-06, + 3.3305805118288845e-06, + 3.747322580238688e-06, + 4.662611900130287e-06, + 5.551514732360374e-06, + 5.976646662020357e-06, + 6.022656179993646e-06, + 5.875723218196072e-06, + 5.676921773556387e-06, + 5.627289283438586e-06, + 5.771197720605414e-06, + 5.966246135358233e-06, + 6.209535968082491e-06, + 6.384966127370717e-06, + 6.508743354061153e-06, + 6.6430065999156795e-06, + 6.513489552162355e-06, + 6.229278369573876e-06, + 6.041815140633844e-06, + 6.0170755205035675e-06, + 6.0270367612247355e-06, + 5.909251740376931e-06, + 5.6593844419694506e-06, + 5.539634003071114e-06, + 5.722147307096748e-06, + 6.094167474657297e-06, + 6.375902103172848e-06, + 6.498424227174837e-06, + 6.451850367739098e-06, + 6.324592504824977e-06, + 6.231292445590952e-06, + 6.30438717053039e-06, + 6.456906703533605e-06, + 6.734529961249791e-06, + 6.973420568101574e-06, + 7.309311058634194e-06, + 7.603522590216016e-06, + 7.66354423831217e-06, + 7.604488473589299e-06, + 7.72739076637663e-06, + 8.087580681603868e-06, + 8.429693480138667e-06, + 8.56278529681731e-06, + 8.709371286386158e-06, + 8.746781531954184e-06, + 8.727513886697125e-06, + 8.70723306434229e-06, + 9.042278179549612e-06, + 9.639305972086731e-06, + 1.0095847756019793e-05, + 9.929506632033736e-06, + 9.584006875229534e-06, + 9.321197467215825e-06, + 9.065744052350055e-06, + 9.022025551530533e-06, + 9.07393859961303e-06, + 9.08802576304879e-06, + 9.091355423151981e-06, + 9.133046660281252e-06, + 9.214338206220418e-06, + 9.320900971943047e-06, + 9.380433766636997e-06, + 9.575418516760692e-06, + 9.794817742658779e-06, + 1.0106913578056265e-05, + 1.0193763046117965e-05, + 1.0201984878221992e-05, + 1.0185256542172283e-05, + 1.0137869139725808e-05, + 1.0004607247537933e-05, + 9.806979505810887e-06, + 9.732049875310622e-06, + 9.699399015516974e-06, + 9.72256384557113e-06, + 9.813100405153818e-06, + 9.932071407092735e-06, + 1.00264951470308e-05, + 1.018188504531281e-05, + 1.053786400007084e-05, + 1.0918985935859382e-05, + 1.1277695193712134e-05, + 1.1453553270257544e-05, + 1.1694445674947929e-05, + 1.2032423910568468e-05, + 1.228396922670072e-05, + 1.2389736184559297e-05, + 1.2456604963517748e-05, + 1.247056479769526e-05, + 1.2497545867518056e-05, + 1.2475858056859579e-05, + 1.2440624232112896e-05, + 1.241326390299946e-05, + 1.2381200576783158e-05, + 1.2355353646853473e-05, + 1.2255015462869778e-05, + 1.207164314109832e-05 + ] + ], + "episode_mean_losses": [ + 8.525226370181826e-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": 2.9594912120955996e-06, + "observation_loss": 2.9594912120955996e-06, + "chamfer": 2.5099882350332337e-06, + "track": 4.4950294864065654e-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": 4.4798220187658444e-05, + "observation_loss": 3.3305805118288845e-06, + "chamfer": 2.8173401460662717e-06, + "track": 5.132402520757751e-07, + "acceleration": 4.146763967582956e-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": 2.7222864446230233e-05, + "observation_loss": 3.747322580238688e-06, + "chamfer": 3.16142745759862e-06, + "track": 5.858951226400677e-07, + "acceleration": 2.347554254811257e-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": 1.290018826693995e-05, + "observation_loss": 4.662611900130287e-06, + "chamfer": 3.8798216337454505e-06, + "track": 7.827903232282551e-07, + "acceleration": 8.237576366809662e-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": 9.949792001862079e-06, + "observation_loss": 5.551514732360374e-06, + "chamfer": 4.5384122131508775e-06, + "track": 1.0131022918358212e-06, + "acceleration": 4.398276814754354e-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": 7.65777804190293e-06, + "observation_loss": 5.976646662020357e-06, + "chamfer": 4.821812126465375e-06, + "track": 1.1548346492418204e-06, + "acceleration": 1.681131834629923e-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": 7.3649093792482745e-06, + "observation_loss": 6.022656179993646e-06, + "chamfer": 4.827645625482546e-06, + "track": 1.1950106681979378e-06, + "acceleration": 1.3422531992546283e-06, + "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": 6.467432285717223e-06, + "observation_loss": 5.875723218196072e-06, + "chamfer": 4.710201665147906e-06, + "track": 1.1655214393613278e-06, + "acceleration": 5.917089538343134e-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": 6.589044005522737e-06, + "observation_loss": 5.676921773556387e-06, + "chamfer": 4.566919415083248e-06, + "track": 1.1100023584731389e-06, + "acceleration": 9.121224024966068e-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": 6.510910679935478e-06, + "observation_loss": 5.627289283438586e-06, + "chamfer": 4.553363396553323e-06, + "track": 1.0739256595115876e-06, + "acceleration": 8.836213396534731e-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": 6.210990250110626e-06, + "observation_loss": 5.771197720605414e-06, + "chamfer": 4.69651695311768e-06, + "track": 1.0746805401140591e-06, + "acceleration": 4.397923873966647e-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": 6.3287375269283075e-06, + "observation_loss": 5.966246135358233e-06, + "chamfer": 4.866139988735085e-06, + "track": 1.1001059192494722e-06, + "acceleration": 3.624915052569122e-07, + "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": 6.793819920858368e-06, + "observation_loss": 6.209535968082491e-06, + "chamfer": 5.080371465737699e-06, + "track": 1.1291642749711173e-06, + "acceleration": 5.842838959324581e-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": 6.8320578066050075e-06, + "observation_loss": 6.384966127370717e-06, + "chamfer": 5.234803666098742e-06, + "track": 1.150162574958813e-06, + "acceleration": 4.470918781862565e-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": 6.638519153057132e-06, + "observation_loss": 6.508743354061153e-06, + "chamfer": 5.345547378965421e-06, + "track": 1.1631959750957321e-06, + "acceleration": 1.2977571373085084e-07, + "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": 7.010116860328708e-06, + "observation_loss": 6.6430065999156795e-06, + "chamfer": 5.460650299937697e-06, + "track": 1.1823561862911447e-06, + "acceleration": 3.6711040252157545e-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": 6.79243066770141e-06, + "observation_loss": 6.513489552162355e-06, + "chamfer": 5.358720045478549e-06, + "track": 1.1547696203706437e-06, + "acceleration": 2.7894097343050817e-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": 6.478129762399476e-06, + "observation_loss": 6.229278369573876e-06, + "chamfer": 5.140692792338086e-06, + "track": 1.08858557723579e-06, + "acceleration": 2.488511654519243e-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": 6.194932211656123e-06, + "observation_loss": 6.041815140633844e-06, + "chamfer": 5.001197678211611e-06, + "track": 1.0406175761090708e-06, + "acceleration": 1.53117198919972e-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": 6.138689968793187e-06, + "observation_loss": 6.0170755205035675e-06, + "chamfer": 4.984854058420751e-06, + "track": 1.0322213483959786e-06, + "acceleration": 1.2161463303073106e-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": 6.217426744115073e-06, + "observation_loss": 6.0270367612247355e-06, + "chamfer": 4.991241894458653e-06, + "track": 1.0357946393924067e-06, + "acceleration": 1.9039013920973957e-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": 6.110252343205502e-06, + "observation_loss": 5.909251740376931e-06, + "chamfer": 4.902931777905906e-06, + "track": 1.0063198487841873e-06, + "acceleration": 2.0100068809369986e-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": 5.844252427777974e-06, + "observation_loss": 5.6593844419694506e-06, + "chamfer": 4.70920849693357e-06, + "track": 9.50175717662205e-07, + "acceleration": 1.8486812791707052e-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": 5.665643129759701e-06, + "observation_loss": 5.539634003071114e-06, + "chamfer": 4.606972197507275e-06, + "track": 9.326616918770014e-07, + "acceleration": 1.2600897036918468e-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": 5.854094069945859e-06, + "observation_loss": 5.722147307096748e-06, + "chamfer": 4.734057256428059e-06, + "track": 9.880899369818508e-07, + "acceleration": 1.3194663495141867e-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": 6.397058314178139e-06, + "observation_loss": 6.094167474657297e-06, + "chamfer": 5.005047114536865e-06, + "track": 1.0891204738072702e-06, + "acceleration": 3.028910668945173e-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": 6.703997769363923e-06, + "observation_loss": 6.375902103172848e-06, + "chamfer": 5.2071832215006e-06, + "track": 1.1687187679854105e-06, + "acceleration": 3.2809552408252785e-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": 6.72917394695105e-06, + "observation_loss": 6.498424227174837e-06, + "chamfer": 5.3018779908597935e-06, + "track": 1.1965462363150436e-06, + "acceleration": 2.307498334630509e-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": 6.946292614884442e-06, + "observation_loss": 6.451850367739098e-06, + "chamfer": 5.273052465781802e-06, + "track": 1.1787977882704581e-06, + "acceleration": 4.944423608321813e-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": 6.563634087797254e-06, + "observation_loss": 6.324592504824977e-06, + "chamfer": 5.1792590056720655e-06, + "track": 1.1453334991529118e-06, + "acceleration": 2.390418103459524e-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": 6.300942004600074e-06, + "observation_loss": 6.231292445590952e-06, + "chamfer": 5.112608960189391e-06, + "track": 1.1186835990883992e-06, + "acceleration": 6.964937426801043e-08, + "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": 6.348769147734856e-06, + "observation_loss": 6.30438717053039e-06, + "chamfer": 5.173586487217108e-06, + "track": 1.1308006833132822e-06, + "acceleration": 4.438200917888935e-08, + "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": 6.513054813694907e-06, + "observation_loss": 6.456906703533605e-06, + "chamfer": 5.295531536830822e-06, + "track": 1.1613753940764582e-06, + "acceleration": 5.614814213572572e-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": 6.83810731061385e-06, + "observation_loss": 6.734529961249791e-06, + "chamfer": 5.501001851371257e-06, + "track": 1.2335279961916967e-06, + "acceleration": 1.0357755542145242e-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": 7.062074473651592e-06, + "observation_loss": 6.973420568101574e-06, + "chamfer": 5.6836606745491736e-06, + "track": 1.2897600072392379e-06, + "acceleration": 8.865412581826604e-08, + "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": 7.452403679053532e-06, + "observation_loss": 7.309311058634194e-06, + "chamfer": 5.93341837884509e-06, + "track": 1.3758925661022658e-06, + "acceleration": 1.4309244988908176e-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": 7.661429663130548e-06, + "observation_loss": 7.603522590216016e-06, + "chamfer": 6.147045496618375e-06, + "track": 1.456477207284479e-06, + "acceleration": 5.790669277416782e-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": 8.03818602435058e-06, + "observation_loss": 7.66354423831217e-06, + "chamfer": 6.200933512445772e-06, + "track": 1.462610271119047e-06, + "acceleration": 3.746416723515722e-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": 7.745565199002158e-06, + "observation_loss": 7.604488473589299e-06, + "chamfer": 6.178066996653797e-06, + "track": 1.4264215906223399e-06, + "acceleration": 1.4107700962995295e-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": 7.917681614344474e-06, + "observation_loss": 7.72739076637663e-06, + "chamfer": 6.274886800383683e-06, + "track": 1.452504079679784e-06, + "acceleration": 1.902909758655369e-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": 8.337148756254464e-06, + "observation_loss": 8.087580681603868e-06, + "chamfer": 6.530655809910968e-06, + "track": 1.556925099066575e-06, + "acceleration": 2.4956781885521195e-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": 8.599353350291494e-06, + "observation_loss": 8.429693480138667e-06, + "chamfer": 6.767541435692692e-06, + "track": 1.6621524991933256e-06, + "acceleration": 1.6966022542419523e-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": 8.660179446451366e-06, + "observation_loss": 8.56278529681731e-06, + "chamfer": 6.8415101850405335e-06, + "track": 1.7212755665241275e-06, + "acceleration": 9.739408568520957e-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": 8.755631824897137e-06, + "observation_loss": 8.709371286386158e-06, + "chamfer": 6.935554210940609e-06, + "track": 1.7738168480718741e-06, + "acceleration": 4.6260115738050445e-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": 8.826342309475876e-06, + "observation_loss": 8.746781531954184e-06, + "chamfer": 6.955492608540226e-06, + "track": 1.7912884686666075e-06, + "acceleration": 7.956095515737616e-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": 8.817827620077878e-06, + "observation_loss": 8.727513886697125e-06, + "chamfer": 6.94056143402122e-06, + "track": 1.7869522253022296e-06, + "acceleration": 9.031347758536867e-08, + "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": 8.913310921343509e-06, + "observation_loss": 8.70723306434229e-06, + "chamfer": 6.922426564415218e-06, + "track": 1.7848066136139096e-06, + "acceleration": 2.0607747330814163e-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": 9.175860213872511e-06, + "observation_loss": 9.042278179549612e-06, + "chamfer": 7.148420991143212e-06, + "track": 1.8938575294669135e-06, + "acceleration": 1.3358186379264225e-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": 9.724177289172076e-06, + "observation_loss": 9.639305972086731e-06, + "chamfer": 7.535330041719135e-06, + "track": 2.103975702993921e-06, + "acceleration": 8.487148051017357e-08, + "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": 1.0360152373323217e-05, + "observation_loss": 1.0095847756019793e-05, + "chamfer": 7.840929356461857e-06, + "track": 2.2549186269316124e-06, + "acceleration": 2.6430504362906504e-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": 1.0067520634038374e-05, + "observation_loss": 9.929506632033736e-06, + "chamfer": 7.734881364740431e-06, + "track": 2.1946250399196288e-06, + "acceleration": 1.3801410148062132e-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": 9.753401172929443e-06, + "observation_loss": 9.584006875229534e-06, + "chamfer": 7.519839982705889e-06, + "track": 2.0641668925236445e-06, + "acceleration": 1.6939431191076437e-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": 9.36367541726213e-06, + "observation_loss": 9.321197467215825e-06, + "chamfer": 7.349966836045496e-06, + "track": 1.9712306311703287e-06, + "acceleration": 4.2477704909060776e-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": 9.116869478020817e-06, + "observation_loss": 9.065744052350055e-06, + "chamfer": 7.1636382017459255e-06, + "track": 1.9021056232304545e-06, + "acceleration": 5.112515211180835e-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": 9.08064885152271e-06, + "observation_loss": 9.022025551530533e-06, + "chamfer": 7.1250869950745255e-06, + "track": 1.896939011203358e-06, + "acceleration": 5.8623562892989867e-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": 9.153714927379042e-06, + "observation_loss": 9.07393859961303e-06, + "chamfer": 7.154588729463285e-06, + "track": 1.91935009752342e-06, + "acceleration": 7.977653382340577e-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": 9.147890523308888e-06, + "observation_loss": 9.08802576304879e-06, + "chamfer": 7.161047506087925e-06, + "track": 1.9269780295871897e-06, + "acceleration": 5.986485973608069e-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": 9.234158824256156e-06, + "observation_loss": 9.091355423151981e-06, + "chamfer": 7.140044544939883e-06, + "track": 1.9513106508384226e-06, + "acceleration": 1.428036426887047e-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": 9.43251416174462e-06, + "observation_loss": 9.133046660281252e-06, + "chamfer": 7.168145202740561e-06, + "track": 1.964901457540691e-06, + "acceleration": 2.994672740896931e-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": 9.873233466350939e-06, + "observation_loss": 9.214338206220418e-06, + "chamfer": 7.198847924883012e-06, + "track": 2.0154907360847574e-06, + "acceleration": 6.588949190700077e-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": 1.0220162948826328e-05, + "observation_loss": 9.320900971943047e-06, + "chamfer": 7.271121830854099e-06, + "track": 2.049779368462623e-06, + "acceleration": 8.992616358227679e-07, + "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": 9.823873369896319e-06, + "observation_loss": 9.380433766636997e-06, + "chamfer": 7.3104893090203404e-06, + "track": 2.0699446849903325e-06, + "acceleration": 4.434394043073553e-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": 9.713137842481956e-06, + "observation_loss": 9.575418516760692e-06, + "chamfer": 7.4473509812378325e-06, + "track": 2.1280679902702104e-06, + "acceleration": 1.3771936835382803e-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": 9.880121979222167e-06, + "observation_loss": 9.794817742658779e-06, + "chamfer": 7.5810244197782595e-06, + "track": 2.2137933228805196e-06, + "acceleration": 8.530444262078163e-08, + "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": 1.0157080396311358e-05, + "observation_loss": 1.0106913578056265e-05, + "chamfer": 7.777585778967477e-06, + "track": 2.329327571715112e-06, + "acceleration": 5.016677917524248e-08, + "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": 1.0236289199383464e-05, + "observation_loss": 1.0193763046117965e-05, + "chamfer": 7.826648470654618e-06, + "track": 2.3671148028370226e-06, + "acceleration": 4.252655472214428e-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": 1.038712161971489e-05, + "observation_loss": 1.0201984878221992e-05, + "chamfer": 7.817019650246948e-06, + "track": 2.384965000601369e-06, + "acceleration": 1.851366846494784e-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": 1.0291912985849194e-05, + "observation_loss": 1.0185256542172283e-05, + "chamfer": 7.765127520542592e-06, + "track": 2.4201285668823402e-06, + "acceleration": 1.0665601024584248e-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": 1.0213355380983558e-05, + "observation_loss": 1.0137869139725808e-05, + "chamfer": 7.708217708568554e-06, + "track": 2.4296512037835782e-06, + "acceleration": 7.548645442057023e-08, + "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": 1.0248139005852863e-05, + "observation_loss": 1.0004607247537933e-05, + "chamfer": 7.6232081482885405e-06, + "track": 2.381399326623068e-06, + "acceleration": 2.4353133198928845e-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": 1.0399642633274198e-05, + "observation_loss": 9.806979505810887e-06, + "chamfer": 7.513988748542033e-06, + "track": 2.292990984642529e-06, + "acceleration": 5.926634685238241e-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": 1.0081753316626418e-05, + "observation_loss": 9.732049875310622e-06, + "chamfer": 7.458227628376335e-06, + "track": 2.273822019560612e-06, + "acceleration": 3.497032992072491e-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": 9.905541446642019e-06, + "observation_loss": 9.699399015516974e-06, + "chamfer": 7.441894013027195e-06, + "track": 2.2575052298634546e-06, + "acceleration": 2.061424169141901e-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": 9.855914868239779e-06, + "observation_loss": 9.72256384557113e-06, + "chamfer": 7.462922894774238e-06, + "track": 2.2596414055442438e-06, + "acceleration": 1.333509231926655e-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": 9.889471584756393e-06, + "observation_loss": 9.813100405153818e-06, + "chamfer": 7.528786227339879e-06, + "track": 2.284313723066589e-06, + "acceleration": 7.637094512347176e-08, + "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": 9.968837730411906e-06, + "observation_loss": 9.932071407092735e-06, + "chamfer": 7.602755886182422e-06, + "track": 2.3293159756576642e-06, + "acceleration": 3.6765875677247095e-08, + "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": 1.0120808838109951e-05, + "observation_loss": 1.00264951470308e-05, + "chamfer": 7.630478648934513e-06, + "track": 2.3960167254699627e-06, + "acceleration": 9.431350633803959e-08, + "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": 1.0342241694161203e-05, + "observation_loss": 1.018188504531281e-05, + "chamfer": 7.702099537709728e-06, + "track": 2.479785507603083e-06, + "acceleration": 1.603564925289902e-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": 1.0739832760009449e-05, + "observation_loss": 1.053786400007084e-05, + "chamfer": 7.878553333284799e-06, + "track": 2.6593104394123657e-06, + "acceleration": 2.0196834782382211e-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": 1.1152694241900463e-05, + "observation_loss": 1.0918985935859382e-05, + "chamfer": 8.072685886872932e-06, + "track": 2.8463002763601253e-06, + "acceleration": 2.3370854762561066e-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": 1.1479340173536912e-05, + "observation_loss": 1.1277695193712134e-05, + "chamfer": 8.274108949990477e-06, + "track": 3.003586471095332e-06, + "acceleration": 2.016447098185381e-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": 1.156544476543786e-05, + "observation_loss": 1.1453553270257544e-05, + "chamfer": 8.356718353752512e-06, + "track": 3.096834689131356e-06, + "acceleration": 1.1189111859266632e-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": 1.1946543963858858e-05, + "observation_loss": 1.1694445674947929e-05, + "chamfer": 8.507096936227754e-06, + "track": 3.187348738720175e-06, + "acceleration": 2.5209868681486114e-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": 1.2273797437956091e-05, + "observation_loss": 1.2032423910568468e-05, + "chamfer": 8.708574569027405e-06, + "track": 3.323849796288414e-06, + "acceleration": 2.4137315790540015e-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": 1.2378048268146813e-05, + "observation_loss": 1.228396922670072e-05, + "chamfer": 8.845890988595784e-06, + "track": 3.4380780107312603e-06, + "acceleration": 9.40788851266916e-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": 1.2470601177483331e-05, + "observation_loss": 1.2389736184559297e-05, + "chamfer": 8.896160579752177e-06, + "track": 3.49357560480712e-06, + "acceleration": 8.086507818916289e-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": 1.2525671081675682e-05, + "observation_loss": 1.2456604963517748e-05, + "chamfer": 8.936581252783071e-06, + "track": 3.5200241654820275e-06, + "acceleration": 6.906628868819098e-08, + "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": 1.2528874322015326e-05, + "observation_loss": 1.247056479769526e-05, + "chamfer": 8.918196726881433e-06, + "track": 3.5523680708138272e-06, + "acceleration": 5.830947813478815e-08, + "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": 1.254882590728812e-05, + "observation_loss": 1.2497545867518056e-05, + "chamfer": 8.910094038583338e-06, + "track": 3.5874516015610425e-06, + "acceleration": 5.1280274249165814e-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": 1.2618055734492373e-05, + "observation_loss": 1.2475858056859579e-05, + "chamfer": 8.904388778319117e-06, + "track": 3.5714692785404623e-06, + "acceleration": 1.4219767763279378e-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": 1.2586570846906397e-05, + "observation_loss": 1.2440624232112896e-05, + "chamfer": 8.884046110324562e-06, + "track": 3.5565778944146587e-06, + "acceleration": 1.4594647268495464e-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": 1.2439075362635776e-05, + "observation_loss": 1.241326390299946e-05, + "chamfer": 8.85504050529562e-06, + "track": 3.5582238524511922e-06, + "acceleration": 2.5811454307245185e-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": 1.2440203136065975e-05, + "observation_loss": 1.2381200576783158e-05, + "chamfer": 8.823227290122304e-06, + "track": 3.5579730592871783e-06, + "acceleration": 5.900233546185518e-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": 1.2476031770347618e-05, + "observation_loss": 1.2355353646853473e-05, + "chamfer": 8.799360330158379e-06, + "track": 3.5559930893214187e-06, + "acceleration": 1.2067820875927282e-07, + "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": 1.2368414900265634e-05, + "observation_loss": 1.2255015462869778e-05, + "chamfer": 8.743301805225201e-06, + "track": 3.5117132028972264e-06, + "acceleration": 1.1339964345324915e-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": 1.2115740901208483e-05, + "observation_loss": 1.207164314109832e-05, + "chamfer": 8.64368848851882e-06, + "track": 3.427955107326852e-06, + "acceleration": 4.409811893424376e-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": 9.557623741329735e-06, + "chamfer_mean": 6.6096788605326156e-06, + "track_mean": 1.915547514682222e-06, + "acceleration_mean": 1.0323973618035314e-06, + "observation_score": 8.525226370181826e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4157792259993585 + }, + "score_arrays_file": "pass_scores/pass_end_0132.npz", + "score_arrays_sha256": "5957089fa391d12b397eb755158ac30f18568494bc1eeed2bce81817caba854c" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0133.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0133.json new file mode 100644 index 0000000000000000000000000000000000000000..6be52b6bde6d0705e58fcde4adaef0d7798da355 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0133.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12768, + "completed_passes": 133, + "snapshot": "pass_end_0133", + "candidate": true, + "snapshot_arrays_sha256": "f0f9717d3a34ab526b98502724b79e4765f8b859887e640d9ea341886861d924", + "score": 8.515464008003923e-06, + "score_result": { + "score": 8.515464008003923e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.958780441986164e-06, + 3.327855665702373e-06, + 3.7412628444144502e-06, + 4.648908088711323e-06, + 5.5348755267914385e-06, + 5.957502253295388e-06, + 6.001357633067528e-06, + 5.85734687774675e-06, + 5.658641384798102e-06, + 5.610902007902041e-06, + 5.757908638770459e-06, + 5.951007551630028e-06, + 6.195403784658993e-06, + 6.369205948431045e-06, + 6.4908208514680155e-06, + 6.6256079662707634e-06, + 6.493591172329616e-06, + 6.209516413946403e-06, + 6.022111847414635e-06, + 5.9959475038340315e-06, + 6.005278464726871e-06, + 5.886791313969297e-06, + 5.63722278457135e-06, + 5.518348189070821e-06, + 5.6991093515534885e-06, + 6.0680795286316425e-06, + 6.350158400891814e-06, + 6.474537258327473e-06, + 6.431303518183995e-06, + 6.305612714641029e-06, + 6.214396307768766e-06, + 6.287745236477349e-06, + 6.442601261369418e-06, + 6.718701570207486e-06, + 6.956769993848866e-06, + 7.292794180102646e-06, + 7.586122137581697e-06, + 7.645361620234326e-06, + 7.58381020204979e-06, + 7.705529242230114e-06, + 8.064397661655676e-06, + 8.407479981542565e-06, + 8.540130693290848e-06, + 8.686970431881491e-06, + 8.725560292077716e-06, + 8.707921551831532e-06, + 8.689359674463049e-06, + 9.02700503502274e-06, + 9.62729609454982e-06, + 1.008505296340445e-05, + 9.918718205881305e-06, + 9.574718205840327e-06, + 9.311801477451809e-06, + 9.056875569513068e-06, + 9.01106704986887e-06, + 9.061574928637128e-06, + 9.076795322471298e-06, + 9.08137189981062e-06, + 9.124081771005876e-06, + 9.206436516251415e-06, + 9.314981070929207e-06, + 9.377065907756332e-06, + 9.576009688316844e-06, + 9.800099178391974e-06, + 1.011841777653899e-05, + 1.0208669664280023e-05, + 1.0217805538559332e-05, + 1.0203587407886516e-05, + 1.0157651558984071e-05, + 1.0023441973316949e-05, + 9.823944310483057e-06, + 9.746097020979505e-06, + 9.710281119623687e-06, + 9.730006240715738e-06, + 9.817752470553387e-06, + 9.934459740179591e-06, + 1.0027046300820075e-05, + 1.0179644959862344e-05, + 1.0534097782510798e-05, + 1.091288504539989e-05, + 1.1272520168859046e-05, + 1.1449146768427454e-05, + 1.1688741324178409e-05, + 1.2027788216073532e-05, + 1.2278502254048362e-05, + 1.2384881301841233e-05, + 1.2451928341761231e-05, + 1.246487590833567e-05, + 1.2492006135289557e-05, + 1.2470052752178162e-05, + 1.2435357348294929e-05, + 1.240805704583181e-05, + 1.2375903679640032e-05, + 1.235012496181298e-05, + 1.2249584870005492e-05, + 1.2067685929650906e-05 + ] + ], + "episode_mean_losses": [ + 8.515464008003923e-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": 2.958780441986164e-06, + "observation_loss": 2.958780441986164e-06, + "chamfer": 2.5093972908507567e-06, + "track": 4.493831511354074e-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": 4.472639921004884e-05, + "observation_loss": 3.327855665702373e-06, + "chamfer": 2.815061179717304e-06, + "track": 5.127945428284875e-07, + "acceleration": 4.139854354434647e-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": 2.716867129493039e-05, + "observation_loss": 3.7412628444144502e-06, + "chamfer": 3.1565070912620286e-06, + "track": 5.847557531524217e-07, + "acceleration": 2.342740845051594e-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": 1.2870814316556789e-05, + "observation_loss": 4.648908088711323e-06, + "chamfer": 3.869446572934976e-06, + "track": 7.794614020895096e-07, + "acceleration": 8.221905773098115e-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": 9.935288289852906e-06, + "observation_loss": 5.5348755267914385e-06, + "chamfer": 4.526862085185712e-06, + "track": 1.0080134416057263e-06, + "acceleration": 4.4004127630614676e-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": 7.636957889189944e-06, + "observation_loss": 5.957502253295388e-06, + "chamfer": 4.809288384421961e-06, + "track": 1.1482138688734267e-06, + "acceleration": 1.6794559769550688e-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": 7.317526979022659e-06, + "observation_loss": 6.001357633067528e-06, + "chamfer": 4.813666691916296e-06, + "track": 1.1876910548380692e-06, + "acceleration": 1.3161694596419693e-06, + "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": 6.445785857067676e-06, + "observation_loss": 5.85734687774675e-06, + "chamfer": 4.698310931416927e-06, + "track": 1.1590359463298228e-06, + "acceleration": 5.884388656340889e-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": 6.58486442262074e-06, + "observation_loss": 5.658641384798102e-06, + "chamfer": 4.554804945655633e-06, + "track": 1.1038362117687939e-06, + "acceleration": 9.262232651963132e-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": 6.483594006567728e-06, + "observation_loss": 5.610902007902041e-06, + "chamfer": 4.542378519545309e-06, + "track": 1.0685236020435696e-06, + "acceleration": 8.72691884978849e-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": 6.184617177495966e-06, + "observation_loss": 5.757908638770459e-06, + "chamfer": 4.687801720137941e-06, + "track": 1.0701068049456808e-06, + "acceleration": 4.2670868083405367e-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": 6.3364277593791485e-06, + "observation_loss": 5.951007551630028e-06, + "chamfer": 4.855628503719345e-06, + "track": 1.0953792752843583e-06, + "acceleration": 3.8542026459253975e-07, + "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": 6.788441169192083e-06, + "observation_loss": 6.195403784658993e-06, + "chamfer": 5.0706430556601845e-06, + "track": 1.124760842685646e-06, + "acceleration": 5.930372708462528e-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": 6.776826921850443e-06, + "observation_loss": 6.369205948431045e-06, + "chamfer": 5.22340906172758e-06, + "track": 1.1457970003903029e-06, + "acceleration": 4.076209165759792e-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": 6.636282250838121e-06, + "observation_loss": 6.4908208514680155e-06, + "chamfer": 5.332381533662556e-06, + "track": 1.1584390904317843e-06, + "acceleration": 1.4546122883984935e-07, + "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": 7.031750101305079e-06, + "observation_loss": 6.6256079662707634e-06, + "chamfer": 5.447829153126804e-06, + "track": 1.1777785857702838e-06, + "acceleration": 4.061423339862813e-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": 6.76915624353569e-06, + "observation_loss": 6.493591172329616e-06, + "chamfer": 5.343803877622122e-06, + "track": 1.1497875220811693e-06, + "acceleration": 2.755652701580402e-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": 6.461850716732442e-06, + "observation_loss": 6.209516413946403e-06, + "chamfer": 5.125576535647269e-06, + "track": 1.0839397646122961e-06, + "acceleration": 2.5233444489458634e-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": 6.177593604661524e-06, + "observation_loss": 6.022111847414635e-06, + "chamfer": 4.985854957340052e-06, + "track": 1.0362568900745828e-06, + "acceleration": 1.5548175724688917e-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": 6.118569672253216e-06, + "observation_loss": 5.9959475038340315e-06, + "chamfer": 4.9682953431329224e-06, + "track": 1.027652160701109e-06, + "acceleration": 1.2262231052773132e-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": 6.197125458129449e-06, + "observation_loss": 6.005278464726871e-06, + "chamfer": 4.9742789087758865e-06, + "track": 1.030999669637822e-06, + "acceleration": 1.918469649808685e-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": 6.090695478633279e-06, + "observation_loss": 5.886791313969297e-06, + "chamfer": 4.8852925829123706e-06, + "track": 1.001498617370089e-06, + "acceleration": 2.0390417887483636e-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": 5.822796538268449e-06, + "observation_loss": 5.63722278457135e-06, + "chamfer": 4.691502454079455e-06, + "track": 9.457203304918949e-07, + "acceleration": 1.8557381054051802e-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": 5.6431954362778924e-06, + "observation_loss": 5.518348189070821e-06, + "chamfer": 4.589836862578522e-06, + "track": 9.285111559620418e-07, + "acceleration": 1.248473040504905e-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": 5.8311889006290585e-06, + "observation_loss": 5.6991093515534885e-06, + "chamfer": 4.715853719972074e-06, + "track": 9.8325585895509e-07, + "acceleration": 1.320796769732624e-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": 6.373144060489722e-06, + "observation_loss": 6.0680795286316425e-06, + "chamfer": 4.984710813005222e-06, + "track": 1.0833687156264205e-06, + "acceleration": 3.050645034363697e-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": 6.681279955955688e-06, + "observation_loss": 6.350158400891814e-06, + "chamfer": 5.187210717849666e-06, + "track": 1.1629475693553104e-06, + "acceleration": 3.311215266421641e-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": 6.706319254590198e-06, + "observation_loss": 6.474537258327473e-06, + "chamfer": 5.283243353915168e-06, + "track": 1.1912937907254673e-06, + "acceleration": 2.3178181152161415e-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": 6.926344212843105e-06, + "observation_loss": 6.431303518183995e-06, + "chamfer": 5.257013526716037e-06, + "track": 1.1742902188416338e-06, + "acceleration": 4.950408651893667e-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": 6.5420927057857625e-06, + "observation_loss": 6.305612714641029e-06, + "chamfer": 5.164280537428567e-06, + "track": 1.1413321772124618e-06, + "acceleration": 2.3648016167499009e-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": 6.283779384830268e-06, + "observation_loss": 6.214396307768766e-06, + "chamfer": 5.099282589071663e-06, + "track": 1.1151139460707782e-06, + "acceleration": 6.938289942581832e-08, + "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": 6.3320458139060065e-06, + "observation_loss": 6.287745236477349e-06, + "chamfer": 5.160271484783152e-06, + "track": 1.1274735243205214e-06, + "acceleration": 4.430051703252502e-08, + "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": 6.4988230406015646e-06, + "observation_loss": 6.442601261369418e-06, + "chamfer": 5.283999144012341e-06, + "track": 1.1586018899834016e-06, + "acceleration": 5.622169396701793e-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": 6.82207610225305e-06, + "observation_loss": 6.718701570207486e-06, + "chamfer": 5.488355782290455e-06, + "track": 1.2303456742301933e-06, + "acceleration": 1.033744965184269e-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": 7.047168764984235e-06, + "observation_loss": 6.956769993848866e-06, + "chamfer": 5.670493010256905e-06, + "track": 1.2862770972787985e-06, + "acceleration": 9.03988919276344e-08, + "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": 7.438677585014375e-06, + "observation_loss": 7.292794180102646e-06, + "chamfer": 5.920477633480914e-06, + "track": 1.3723166603085701e-06, + "acceleration": 1.45883333857455e-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": 7.645210644113831e-06, + "observation_loss": 7.586122137581697e-06, + "chamfer": 6.133783244877122e-06, + "track": 1.4523388927045744e-06, + "acceleration": 5.908834666001894e-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": 8.019686902116518e-06, + "observation_loss": 7.645361620234326e-06, + "chamfer": 6.187188319017878e-06, + "track": 1.4581728464690968e-06, + "acceleration": 3.743249692433892e-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": 7.72507246438181e-06, + "observation_loss": 7.58381020204979e-06, + "chamfer": 6.162305908219423e-06, + "track": 1.4215044075172045e-06, + "acceleration": 1.4126190706065245e-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": 7.896160241216421e-06, + "observation_loss": 7.705529242230114e-06, + "chamfer": 6.258637313294457e-06, + "track": 1.4468918152488186e-06, + "acceleration": 1.906313400468207e-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": 8.314286787935998e-06, + "observation_loss": 8.064397661655676e-06, + "chamfer": 6.513636890304042e-06, + "track": 1.5507604302911204e-06, + "acceleration": 2.4988918312374153e-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": 8.577838343626354e-06, + "observation_loss": 8.407479981542565e-06, + "chamfer": 6.751433375029592e-06, + "track": 1.656046606512973e-06, + "acceleration": 1.703585752466097e-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": 8.637489372631535e-06, + "observation_loss": 8.540130693290848e-06, + "chamfer": 6.824983756814618e-06, + "track": 1.7151470501630683e-06, + "acceleration": 9.735857986470364e-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": 8.732863534532953e-06, + "observation_loss": 8.686970431881491e-06, + "chamfer": 6.919408860994736e-06, + "track": 1.767561684573593e-06, + "acceleration": 4.58935147662487e-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": 8.805131074041128e-06, + "observation_loss": 8.725560292077716e-06, + "chamfer": 6.9401212385855615e-06, + "track": 1.7854391671789926e-06, + "acceleration": 7.957107328593338e-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": 8.798661838227417e-06, + "observation_loss": 8.707921551831532e-06, + "chamfer": 6.926301921339473e-06, + "track": 1.7816199715525727e-06, + "acceleration": 9.074057771840671e-08, + "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": 8.895875907910522e-06, + "observation_loss": 8.689359674463049e-06, + "chamfer": 6.90935121383518e-06, + "track": 1.7800084606278688e-06, + "acceleration": 2.0651667398396967e-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": 9.161154594039544e-06, + "observation_loss": 9.02700503502274e-06, + "chamfer": 7.137330158002442e-06, + "track": 1.8896752180808107e-06, + "acceleration": 1.341493316431297e-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": 9.711987331684213e-06, + "observation_loss": 9.62729609454982e-06, + "chamfer": 7.526733497797977e-06, + "track": 2.1005625967518426e-06, + "acceleration": 8.469142898093196e-08, + "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": 1.0350830962124746e-05, + "observation_loss": 1.008505296340445e-05, + "chamfer": 7.833196832507383e-06, + "track": 2.251855903523392e-06, + "acceleration": 2.657784250459372e-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": 1.0058104635390919e-05, + "observation_loss": 9.918718205881305e-06, + "chamfer": 7.727137017354835e-06, + "track": 2.1915811885264702e-06, + "acceleration": 1.3938648635303252e-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": 9.74555041466374e-06, + "observation_loss": 9.574718205840327e-06, + "chamfer": 7.513241598644527e-06, + "track": 2.0614763798221247e-06, + "acceleration": 1.7083240777537867e-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": 9.354711437481456e-06, + "observation_loss": 9.311801477451809e-06, + "chamfer": 7.343172910623252e-06, + "track": 1.9686290215759072e-06, + "acceleration": 4.291020161417691e-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": 9.10843209567247e-06, + "observation_loss": 9.056875569513068e-06, + "chamfer": 7.157592790463241e-06, + "track": 1.8992828927366645e-06, + "acceleration": 5.1556344971004364e-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": 9.069966836250387e-06, + "observation_loss": 9.01106704986887e-06, + "chamfer": 7.117478617146844e-06, + "track": 1.8935885464088642e-06, + "acceleration": 5.889981125051236e-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": 9.140066140389536e-06, + "observation_loss": 9.061574928637128e-06, + "chamfer": 7.145955351006705e-06, + "track": 1.9156193502567476e-06, + "acceleration": 7.849143202065534e-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": 9.134038919000886e-06, + "observation_loss": 9.076795322471298e-06, + "chamfer": 7.153228580136783e-06, + "track": 1.923566742334515e-06, + "acceleration": 5.72434295520452e-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": 9.224153473041952e-06, + "observation_loss": 9.08137189981062e-06, + "chamfer": 7.133325198083185e-06, + "track": 1.948046246980084e-06, + "acceleration": 1.4278192850269988e-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": 9.425811185792554e-06, + "observation_loss": 9.124081771005876e-06, + "chamfer": 7.162134352256544e-06, + "track": 1.9619469640019815e-06, + "acceleration": 3.017290453044552e-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": 9.870012945611961e-06, + "observation_loss": 9.206436516251415e-06, + "chamfer": 7.19372746971203e-06, + "track": 2.0127095012867358e-06, + "acceleration": 6.635762019868707e-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": 1.0222140190307982e-05, + "observation_loss": 9.314981070929207e-06, + "chamfer": 7.267509317898657e-06, + "track": 2.047471980404225e-06, + "acceleration": 9.071591193787754e-07, + "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": 9.825157576415222e-06, + "observation_loss": 9.377065907756332e-06, + "chamfer": 7.308789008675376e-06, + "track": 2.068277126454632e-06, + "acceleration": 4.4809206656282186e-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": 9.715670785226393e-06, + "observation_loss": 9.576009688316844e-06, + "chamfer": 7.448476935678627e-06, + "track": 2.127532752638217e-06, + "acceleration": 1.3966150902433583e-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": 9.887114174489398e-06, + "observation_loss": 9.800099178391974e-06, + "chamfer": 7.584992999909446e-06, + "track": 2.2151061784825288e-06, + "acceleration": 8.701466924776469e-08, + "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": 1.0167968866880983e-05, + "observation_loss": 1.011841777653899e-05, + "chamfer": 7.786011337884702e-06, + "track": 2.3324068934016395e-06, + "acceleration": 4.9550710201629045e-08, + "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": 1.0249998922517989e-05, + "observation_loss": 1.0208669664280023e-05, + "chamfer": 7.836906661395915e-06, + "track": 2.371763230257784e-06, + "acceleration": 4.132904507514468e-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": 1.0402975931356195e-05, + "observation_loss": 1.0217805538559332e-05, + "chamfer": 7.828042726032436e-06, + "track": 2.3897623577795457e-06, + "acceleration": 1.8516998068207613e-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": 1.0310575817129575e-05, + "observation_loss": 1.0203587407886516e-05, + "chamfer": 7.778199687891174e-06, + "track": 2.4253874926216668e-06, + "acceleration": 1.0698821739651976e-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": 1.0232746717520058e-05, + "observation_loss": 1.0157651558984071e-05, + "chamfer": 7.722414011368528e-06, + "track": 2.435237547615543e-06, + "acceleration": 7.509552091278238e-08, + "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": 1.0267884135828353e-05, + "observation_loss": 1.0023441973316949e-05, + "chamfer": 7.636592272319831e-06, + "track": 2.386849700997118e-06, + "acceleration": 2.44441991981148e-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": 1.0417801604489796e-05, + "observation_loss": 9.823944310483057e-06, + "chamfer": 7.525976343458751e-06, + "track": 2.2979681943979813e-06, + "acceleration": 5.93857635067252e-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": 1.009866718959529e-05, + "observation_loss": 9.746097020979505e-06, + "chamfer": 7.467775049008196e-06, + "track": 2.278321971971309e-06, + "acceleration": 3.5257039598945994e-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": 9.916685485222843e-06, + "observation_loss": 9.710281119623687e-06, + "chamfer": 7.448622454830911e-06, + "track": 2.2616588921664516e-06, + "acceleration": 2.0640476350308745e-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": 9.861403668764979e-06, + "observation_loss": 9.730006240715738e-06, + "chamfer": 7.467348950740416e-06, + "track": 2.2626572899753228e-06, + "acceleration": 1.313970017235988e-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": 9.894824870571028e-06, + "observation_loss": 9.817752470553387e-06, + "chamfer": 7.531570190622006e-06, + "track": 2.286182052557706e-06, + "acceleration": 7.707228633080376e-08, + "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": 9.971976396627724e-06, + "observation_loss": 9.934459740179591e-06, + "chamfer": 7.6040628300688695e-06, + "track": 2.330397137484397e-06, + "acceleration": 3.751682697838987e-08, + "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": 1.012540451483801e-05, + "observation_loss": 1.0027046300820075e-05, + "chamfer": 7.630644176970236e-06, + "track": 2.39640257859719e-06, + "acceleration": 9.835856928930298e-08, + "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": 1.0343097528675571e-05, + "observation_loss": 1.0179644959862344e-05, + "chamfer": 7.700545211264398e-06, + "track": 2.4790995212242706e-06, + "acceleration": 1.634525546023724e-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": 1.0736217518569902e-05, + "observation_loss": 1.0534097782510798e-05, + "chamfer": 7.876002200646326e-06, + "track": 2.658095354490797e-06, + "acceleration": 2.0211999185448803e-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": 1.1148076737299562e-05, + "observation_loss": 1.091288504539989e-05, + "chamfer": 8.068469469435513e-06, + "track": 2.8444158033380518e-06, + "acceleration": 2.351913650500137e-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": 1.1476455256342888e-05, + "observation_loss": 1.1272520168859046e-05, + "chamfer": 8.270778380392585e-06, + "track": 3.0017415610927856e-06, + "acceleration": 2.0393467536905519e-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": 1.1561220162548125e-05, + "observation_loss": 1.1449146768427454e-05, + "chamfer": 8.353901648661122e-06, + "track": 3.0952453471400077e-06, + "acceleration": 1.1207317385242277e-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": 1.1943044228246436e-05, + "observation_loss": 1.1688741324178409e-05, + "chamfer": 8.503460776410066e-06, + "track": 3.1852805477683432e-06, + "acceleration": 2.543027335377701e-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": 1.2272356798348483e-05, + "observation_loss": 1.2027788216073532e-05, + "chamfer": 8.706064363650512e-06, + "track": 3.321724079796695e-06, + "acceleration": 2.4456832647956617e-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": 1.2375031474221032e-05, + "observation_loss": 1.2278502254048362e-05, + "chamfer": 8.842880561132915e-06, + "track": 3.4356214655417716e-06, + "acceleration": 9.65296109711744e-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": 1.2467144188121893e-05, + "observation_loss": 1.2384881301841233e-05, + "chamfer": 8.893816811905708e-06, + "track": 3.4910644899355248e-06, + "acceleration": 8.22625665364285e-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": 1.2521664757514372e-05, + "observation_loss": 1.2451928341761231e-05, + "chamfer": 8.934597644838504e-06, + "track": 3.5173304695490515e-06, + "acceleration": 6.973605337634581e-08, + "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": 1.2523589248303324e-05, + "observation_loss": 1.246487590833567e-05, + "chamfer": 8.915693797462154e-06, + "track": 3.5491821108735166e-06, + "acceleration": 5.8713247597097507e-08, + "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": 1.2543574484880082e-05, + "observation_loss": 1.2492006135289557e-05, + "chamfer": 8.907646588340867e-06, + "track": 3.5843597743223654e-06, + "acceleration": 5.1568250114542025e-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": 1.2610533303814009e-05, + "observation_loss": 1.2470052752178162e-05, + "chamfer": 8.901703040464781e-06, + "track": 3.568350166460732e-06, + "acceleration": 1.4048099217234267e-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": 1.2577746929309797e-05, + "observation_loss": 1.2435357348294929e-05, + "chamfer": 8.88153135747416e-06, + "track": 3.5538262181944447e-06, + "acceleration": 1.423898936536716e-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": 1.2431938557710964e-05, + "observation_loss": 1.240805704583181e-05, + "chamfer": 8.852668543113396e-06, + "track": 3.5553887300920906e-06, + "acceleration": 2.3881206345777173e-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": 1.2433312804205343e-05, + "observation_loss": 1.2375903679640032e-05, + "chamfer": 8.820791663310956e-06, + "track": 3.5551122437027516e-06, + "acceleration": 5.7408893638921654e-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": 1.2469747161958367e-05, + "observation_loss": 1.235012496181298e-05, + "chamfer": 8.796993824944366e-06, + "track": 3.553130682121264e-06, + "acceleration": 1.1962202961512958e-07, + "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": 1.2363160749373492e-05, + "observation_loss": 1.2249584870005492e-05, + "chamfer": 8.74065426614834e-06, + "track": 3.5089308312308276e-06, + "acceleration": 1.1357550278034978e-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": 1.211154813063331e-05, + "observation_loss": 1.2067685929650906e-05, + "chamfer": 8.641961358080152e-06, + "track": 3.4257247989444295e-06, + "acceleration": 4.3862012688578034e-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": 9.547171937166846e-06, + "chamfer_mean": 6.602589098273863e-06, + "track_mean": 1.9128749298621037e-06, + "acceleration_mean": 1.0317079344179803e-06, + "observation_score": 8.515464008003923e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4302826250004728 + }, + "score_arrays_file": "pass_scores/pass_end_0133.npz", + "score_arrays_sha256": "f8ee8e87b0daecfdbd43f8829deccbf65dd0f1c7bfa0ce4eace4986d33b5e7ad" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0134.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0134.json new file mode 100644 index 0000000000000000000000000000000000000000..6c857f6f2a90e49c219119ba3629bd7d292add1e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0134.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12864, + "completed_passes": 134, + "snapshot": "pass_end_0134", + "candidate": true, + "snapshot_arrays_sha256": "3545512fe3511a845f9a6eabeb6cc6abe6526864a8a6125fac245b9e3942645c", + "score": 8.507689730189819e-06, + "score_result": { + "score": 8.507689730189819e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.958136519737309e-06, + 3.3250960314035183e-06, + 3.7353656807681546e-06, + 4.635552159015788e-06, + 5.5182053984026425e-06, + 5.9381545725045726e-06, + 5.979792149446439e-06, + 5.839027835463639e-06, + 5.6399107961624395e-06, + 5.593980858975556e-06, + 5.744449026678922e-06, + 5.935546141699888e-06, + 6.181139269756386e-06, + 6.3535667322867084e-06, + 6.472783752542455e-06, + 6.608235707972199e-06, + 6.473991561506409e-06, + 6.190236945258221e-06, + 6.00312341703102e-06, + 5.9755966503871605e-06, + 5.984334165987093e-06, + 5.865118509973399e-06, + 5.615808731818106e-06, + 5.497264737641672e-06, + 5.676230102835689e-06, + 6.04208526056027e-06, + 6.324688456516014e-06, + 6.4516243583057076e-06, + 6.411670256056823e-06, + 6.2875919866201e-06, + 6.198017672431888e-06, + 6.271174243011046e-06, + 6.427535936381901e-06, + 6.702282007609028e-06, + 6.940741513972171e-06, + 7.276536507561104e-06, + 7.568196906504454e-06, + 7.627961167600006e-06, + 7.563716735603521e-06, + 7.684491720283404e-06, + 8.04241790319793e-06, + 8.386840818275232e-06, + 8.5194324128679e-06, + 8.665754648973234e-06, + 8.705628715688363e-06, + 8.689266906003468e-06, + 8.672831427247729e-06, + 9.013305316329934e-06, + 9.617078831070103e-06, + 1.0077120350615587e-05, + 9.911269444273785e-06, + 9.56825078901602e-06, + 9.304877494287211e-06, + 9.050741937244311e-06, + 9.003267223306466e-06, + 9.05277283891337e-06, + 9.069123734661844e-06, + 9.074771696759854e-06, + 9.117884474107996e-06, + 9.201215107168537e-06, + 9.311111170973163e-06, + 9.376501111546531e-06, + 9.579459401720669e-06, + 9.809000403038226e-06, + 1.0134035619557835e-05, + 1.0227531674900092e-05, + 1.0238771210424602e-05, + 1.0227473467239179e-05, + 1.018428520183079e-05, + 1.004917430691421e-05, + 9.847592082223855e-06, + 9.767351002665237e-06, + 9.727466931508388e-06, + 9.743702321429737e-06, + 9.828902875597123e-06, + 9.942756150849164e-06, + 1.0032688805949874e-05, + 1.0181600373471156e-05, + 1.0533331078477204e-05, + 1.0909186130447779e-05, + 1.126903862314066e-05, + 1.144697489507962e-05, + 1.16851970233256e-05, + 1.2025670912407804e-05, + 1.227499706146773e-05, + 1.2382469321892131e-05, + 1.2449549103621393e-05, + 1.2463113307603635e-05, + 1.2488767424656544e-05, + 1.2467154192563612e-05, + 1.2432126823114231e-05, + 1.2404310837155208e-05, + 1.2372731362120248e-05, + 1.2347649317234755e-05, + 1.2247427548572887e-05, + 1.2066300769220106e-05 + ] + ], + "episode_mean_losses": [ + 8.507689730189819e-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": 2.958136519737309e-06, + "observation_loss": 2.958136519737309e-06, + "chamfer": 2.5088631900871405e-06, + "track": 4.492732159633306e-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": 4.464917947188951e-05, + "observation_loss": 3.3250960314035183e-06, + "chamfer": 2.812752654790529e-06, + "track": 5.123433197695704e-07, + "acceleration": 4.132408503210172e-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": 2.711156412260607e-05, + "observation_loss": 3.7353656807681546e-06, + "chamfer": 3.151724740746431e-06, + "track": 5.836408263348858e-07, + "acceleration": 2.3376198441837914e-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": 1.2838294424000196e-05, + "observation_loss": 4.635552159015788e-06, + "chamfer": 3.8593502722505946e-06, + "track": 7.762020004520309e-07, + "acceleration": 8.20274271973176e-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": 9.919985132000875e-06, + "observation_loss": 5.5182053984026425e-06, + "chamfer": 4.515259206527844e-06, + "track": 1.0029460781879607e-06, + "acceleration": 4.401779733598232e-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": 7.614741662109736e-06, + "observation_loss": 5.9381545725045726e-06, + "chamfer": 4.796590019395808e-06, + "track": 1.1415647804824403e-06, + "acceleration": 1.6765868622314883e-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": 7.268084118550178e-06, + "observation_loss": 5.979792149446439e-06, + "chamfer": 4.799473572347779e-06, + "track": 1.1803184634118224e-06, + "acceleration": 1.288291855416901e-06, + "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": 6.426921117963502e-06, + "observation_loss": 5.839027835463639e-06, + "chamfer": 4.6865329750289675e-06, + "track": 1.1524947467478341e-06, + "acceleration": 5.878933961867006e-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": 6.582098649232648e-06, + "observation_loss": 5.6399107961624395e-06, + "chamfer": 4.542372153082397e-06, + "track": 1.0975386430800427e-06, + "acceleration": 9.421877962267899e-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": 6.455582933995174e-06, + "observation_loss": 5.593980858975556e-06, + "chamfer": 4.531044396571815e-06, + "track": 1.0629364624037407e-06, + "acceleration": 8.616021318630374e-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": 6.160110388009343e-06, + "observation_loss": 5.744449026678922e-06, + "chamfer": 4.6790228225290775e-06, + "track": 1.0654260904630064e-06, + "acceleration": 4.1566119080016506e-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": 6.346892405417748e-06, + "observation_loss": 5.935546141699888e-06, + "chamfer": 4.8449674068251625e-06, + "track": 1.090578848561563e-06, + "acceleration": 4.1134606476589397e-07, + "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": 6.776440386602189e-06, + "observation_loss": 6.181139269756386e-06, + "chamfer": 5.06083233631216e-06, + "track": 1.1203069334442262e-06, + "acceleration": 5.953012305326411e-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": 6.719845259794965e-06, + "observation_loss": 6.3535667322867084e-06, + "chamfer": 5.212101768847788e-06, + "track": 1.1414650771257584e-06, + "acceleration": 3.662783853997098e-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": 6.645087978540687e-06, + "observation_loss": 6.472783752542455e-06, + "chamfer": 5.3191433835309e-06, + "track": 1.1536402553247171e-06, + "acceleration": 1.723041975765227e-07, + "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": 7.053036370052723e-06, + "observation_loss": 6.608235707972199e-06, + "chamfer": 5.435070306702983e-06, + "track": 1.1731651738955406e-06, + "acceleration": 4.448004915502679e-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": 6.741708602930885e-06, + "observation_loss": 6.473991561506409e-06, + "chamfer": 5.329112809704384e-06, + "track": 1.1448786381151876e-06, + "acceleration": 2.677169277376379e-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": 6.446479346777778e-06, + "observation_loss": 6.190236945258221e-06, + "chamfer": 5.110852725920267e-06, + "track": 1.079384333024791e-06, + "acceleration": 2.562422309893009e-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": 6.1600812841788866e-06, + "observation_loss": 6.00312341703102e-06, + "chamfer": 4.971061116521014e-06, + "track": 1.0320620731363306e-06, + "acceleration": 1.5695779609359306e-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": 6.097823643358424e-06, + "observation_loss": 5.9755966503871605e-06, + "chamfer": 4.952358267473755e-06, + "track": 1.0232384966002428e-06, + "acceleration": 1.2222713507981098e-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": 6.176738679641858e-06, + "observation_loss": 5.984334165987093e-06, + "chamfer": 4.957976216246607e-06, + "track": 1.0263579497404862e-06, + "acceleration": 1.9240464155245718e-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": 6.071372808946762e-06, + "observation_loss": 5.865118509973399e-06, + "chamfer": 4.868280939263059e-06, + "track": 9.96837343336665e-07, + "acceleration": 2.0625410002139688e-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": 5.802095074614044e-06, + "observation_loss": 5.615808731818106e-06, + "chamfer": 4.674404408433475e-06, + "track": 9.414045507583069e-07, + "acceleration": 1.862863001633741e-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": 5.621668151434278e-06, + "observation_loss": 5.497264737641672e-06, + "chamfer": 4.572861143969931e-06, + "track": 9.244037642019975e-07, + "acceleration": 1.2440325747320458e-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": 5.808817604702199e-06, + "observation_loss": 5.676230102835689e-06, + "chamfer": 4.6977597776276525e-06, + "track": 9.784700978343608e-07, + "acceleration": 1.3258754449907428e-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": 6.34879688732326e-06, + "observation_loss": 6.04208526056027e-06, + "chamfer": 4.964484560332494e-06, + "track": 1.077600927601452e-06, + "acceleration": 3.067117972932465e-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": 6.658128313574707e-06, + "observation_loss": 6.324688456516014e-06, + "chamfer": 5.167455128685106e-06, + "track": 1.157233214144071e-06, + "acceleration": 3.33439942323821e-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": 6.684410891466541e-06, + "observation_loss": 6.4516243583057076e-06, + "chamfer": 5.265367235551821e-06, + "track": 1.186256895380211e-06, + "acceleration": 2.3278633420886763e-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": 6.907008355483413e-06, + "observation_loss": 6.411670256056823e-06, + "chamfer": 5.241688086243812e-06, + "track": 1.1699820561261731e-06, + "acceleration": 4.953383268002653e-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": 6.521380328194937e-06, + "observation_loss": 6.2875919866201e-06, + "chamfer": 5.150065135239856e-06, + "track": 1.1375267376934062e-06, + "acceleration": 2.3378827052056295e-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": 6.266649052122375e-06, + "observation_loss": 6.198017672431888e-06, + "chamfer": 5.086370038043242e-06, + "track": 1.1116476343886461e-06, + "acceleration": 6.863132284706808e-08, + "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": 6.315017344604712e-06, + "observation_loss": 6.271174243011046e-06, + "chamfer": 5.147022875462426e-06, + "track": 1.1241513675486203e-06, + "acceleration": 4.384300211768277e-08, + "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": 6.484749974333681e-06, + "observation_loss": 6.427535936381901e-06, + "chamfer": 5.27186648469069e-06, + "track": 1.1556693380043725e-06, + "acceleration": 5.721384965795551e-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": 6.807119007135043e-06, + "observation_loss": 6.702282007609028e-06, + "chamfer": 5.475197667692555e-06, + "track": 1.2270843399164733e-06, + "acceleration": 1.0483704926400605e-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": 7.03235627952381e-06, + "observation_loss": 6.940741513972171e-06, + "chamfer": 5.657824203808559e-06, + "track": 1.2829174238504493e-06, + "acceleration": 9.161456659967371e-08, + "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": 7.425860985676991e-06, + "observation_loss": 7.276536507561104e-06, + "chamfer": 5.9077506193716545e-06, + "track": 1.36878588818945e-06, + "acceleration": 1.4932426495306572e-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": 7.6274136517895386e-06, + "observation_loss": 7.568196906504454e-06, + "chamfer": 6.120083526184317e-06, + "track": 1.448113494006975e-06, + "acceleration": 5.921695489519152e-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": 8.001373316801619e-06, + "observation_loss": 7.627961167600006e-06, + "chamfer": 6.1740361161355395e-06, + "track": 1.4539250514644664e-06, + "acceleration": 3.7341226288845064e-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": 7.703579285589512e-06, + "observation_loss": 7.563716735603521e-06, + "chamfer": 6.146980467747198e-06, + "track": 1.41673638154316e-06, + "acceleration": 1.398626494619748e-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": 7.874343282310292e-06, + "observation_loss": 7.684491720283404e-06, + "chamfer": 6.242941708478611e-06, + "track": 1.4415502391784685e-06, + "acceleration": 1.8985164729201642e-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": 8.292255188280251e-06, + "observation_loss": 8.04241790319793e-06, + "chamfer": 6.497484264400555e-06, + "track": 1.544933411423699e-06, + "acceleration": 2.4983742719086877e-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": 8.55779853736749e-06, + "observation_loss": 8.386840818275232e-06, + "chamfer": 6.736404884577496e-06, + "track": 1.6504357063240604e-06, + "acceleration": 1.7095743487516302e-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": 8.616309969511349e-06, + "observation_loss": 8.5194324128679e-06, + "chamfer": 6.809842034272151e-06, + "track": 1.7095906059694244e-06, + "acceleration": 9.687797586366287e-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": 8.711559530638624e-06, + "observation_loss": 8.665754648973234e-06, + "chamfer": 6.90394972480135e-06, + "track": 1.7618050378587213e-06, + "acceleration": 4.58045441575905e-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": 8.78518221725244e-06, + "observation_loss": 8.705628715688363e-06, + "chamfer": 6.925643447175389e-06, + "track": 1.7799853821998113e-06, + "acceleration": 7.955385683544591e-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": 8.780305506661534e-06, + "observation_loss": 8.689266906003468e-06, + "chamfer": 6.912702701811213e-06, + "track": 1.7765646589396056e-06, + "acceleration": 9.103814591071568e-08, + "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": 8.879692359187175e-06, + "observation_loss": 8.672831427247729e-06, + "chamfer": 6.897279490658548e-06, + "track": 1.7755515955286683e-06, + "acceleration": 2.0686130142166803e-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": 9.147490345640108e-06, + "observation_loss": 9.013305316329934e-06, + "chamfer": 7.127389380912064e-06, + "track": 1.8859158217310323e-06, + "acceleration": 1.3418525668384973e-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": 9.701826456876006e-06, + "observation_loss": 9.617078831070103e-06, + "chamfer": 7.519364771724213e-06, + "track": 2.0977142867195653e-06, + "acceleration": 8.474724921825327e-08, + "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": 1.0343706890125759e-05, + "observation_loss": 1.0077120350615587e-05, + "chamfer": 7.827501576684881e-06, + "track": 2.2496190013043815e-06, + "acceleration": 2.665865679318813e-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": 1.0052209290734027e-05, + "observation_loss": 9.911269444273785e-06, + "chamfer": 7.721664587734267e-06, + "track": 2.1896044017921668e-06, + "acceleration": 1.4093984646024182e-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": 9.740104360389523e-06, + "observation_loss": 9.56825078901602e-06, + "chamfer": 7.508529506594641e-06, + "track": 2.0597212824213784e-06, + "acceleration": 1.7185344347581122e-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": 9.347746527055278e-06, + "observation_loss": 9.304877494287211e-06, + "chamfer": 7.338156137848273e-06, + "track": 1.9667213564389385e-06, + "acceleration": 4.286930987973392e-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": 9.102094736590516e-06, + "observation_loss": 9.050741937244311e-06, + "chamfer": 7.153558726713527e-06, + "track": 1.8971835515912971e-06, + "acceleration": 5.135279579349117e-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": 9.061897799256258e-06, + "observation_loss": 9.003267223306466e-06, + "chamfer": 7.112178082024911e-06, + "track": 1.891088913907879e-06, + "acceleration": 5.863099517000592e-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": 9.130698344961274e-06, + "observation_loss": 9.05277283891337e-06, + "chamfer": 7.139905392250512e-06, + "track": 1.9128672192891827e-06, + "acceleration": 7.792505840598096e-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": 9.124938515014946e-06, + "observation_loss": 9.069123734661844e-06, + "chamfer": 7.147935775719816e-06, + "track": 1.921188186315703e-06, + "acceleration": 5.58148869345132e-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": 9.217778824677225e-06, + "observation_loss": 9.074771696759854e-06, + "chamfer": 7.129009645723272e-06, + "track": 1.945762278410257e-06, + "acceleration": 1.4300719897164527e-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": 9.421627510164399e-06, + "observation_loss": 9.117884474107996e-06, + "chamfer": 7.158068910939619e-06, + "track": 1.9598153357947012e-06, + "acceleration": 3.037431781649502e-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": 9.869895620795432e-06, + "observation_loss": 9.201215107168537e-06, + "chamfer": 7.190514679678017e-06, + "track": 2.010700200116844e-06, + "acceleration": 6.686801725663827e-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": 1.0227028724330012e-05, + "observation_loss": 9.311111170973163e-06, + "chamfer": 7.265271051437594e-06, + "track": 2.0458398921618937e-06, + "acceleration": 9.159171554529166e-07, + "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": 9.830324415815994e-06, + "observation_loss": 9.376501111546531e-06, + "chamfer": 7.309052307391539e-06, + "track": 2.067449258902343e-06, + "acceleration": 4.5382361690826656e-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": 9.721597052703146e-06, + "observation_loss": 9.579459401720669e-06, + "chamfer": 7.451542842318304e-06, + "track": 2.1279165594023652e-06, + "acceleration": 1.4213802046469937e-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": 9.89817544905236e-06, + "observation_loss": 9.809000403038226e-06, + "chamfer": 7.591604571643984e-06, + "track": 2.2173960587679176e-06, + "acceleration": 8.917498206528762e-08, + "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": 1.0183763151871972e-05, + "observation_loss": 1.0134035619557835e-05, + "chamfer": 7.797299986123107e-06, + "track": 2.3367356334347278e-06, + "acceleration": 4.9727734818816316e-08, + "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": 1.0268768164678477e-05, + "observation_loss": 1.0227531674900092e-05, + "chamfer": 7.849974281270988e-06, + "track": 2.3775571662554285e-06, + "acceleration": 4.123650398923928e-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": 1.0423496860312298e-05, + "observation_loss": 1.0238771210424602e-05, + "chamfer": 7.842626473575365e-06, + "track": 2.3961449642229127e-06, + "acceleration": 1.8472560725513176e-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": 1.0334561920899432e-05, + "observation_loss": 1.0227473467239179e-05, + "chamfer": 7.795199962856714e-06, + "track": 2.4322737317561405e-06, + "acceleration": 1.070881410214497e-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": 1.0259244845656212e-05, + "observation_loss": 1.018428520183079e-05, + "chamfer": 7.741531589999795e-06, + "track": 2.4427540665783454e-06, + "acceleration": 7.495983567196163e-08, + "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": 1.0295466381649021e-05, + "observation_loss": 1.004917430691421e-05, + "chamfer": 7.65480763220694e-06, + "track": 2.3943669020809466e-06, + "acceleration": 2.46291961047973e-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": 1.0444223335071001e-05, + "observation_loss": 9.847592082223855e-06, + "chamfer": 7.542610546806827e-06, + "track": 2.304981080669677e-06, + "acceleration": 5.966309686300519e-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": 1.0122912499355152e-05, + "observation_loss": 9.767351002665237e-06, + "chamfer": 7.482304226869019e-06, + "track": 2.2850472305435687e-06, + "acceleration": 3.5556166722017224e-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": 9.933819455909543e-06, + "observation_loss": 9.727466931508388e-06, + "chamfer": 7.459544576704502e-06, + "track": 2.267922127430211e-06, + "acceleration": 2.0635280861824867e-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": 9.872956070466898e-06, + "observation_loss": 9.743702321429737e-06, + "chamfer": 7.475846814486431e-06, + "track": 2.2678552795696305e-06, + "acceleration": 1.2925391956741805e-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": 9.906212653731927e-06, + "observation_loss": 9.828902875597123e-06, + "chamfer": 7.53866197555908e-06, + "track": 2.290240900038043e-06, + "acceleration": 7.731017603873624e-08, + "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": 9.980892173189204e-06, + "observation_loss": 9.942756150849164e-06, + "chamfer": 7.609315616718959e-06, + "track": 2.3334409888775554e-06, + "acceleration": 3.813642024397268e-08, + "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": 1.0134466720046476e-05, + "observation_loss": 1.0032688805949874e-05, + "chamfer": 7.634035682713147e-06, + "track": 2.3986533506104024e-06, + "acceleration": 1.017780988377126e-07, + "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": 1.0347624993300997e-05, + "observation_loss": 1.0181600373471156e-05, + "chamfer": 7.70160841057077e-06, + "track": 2.479992417647736e-06, + "acceleration": 1.6602507457719184e-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": 1.0736617696238682e-05, + "observation_loss": 1.0533331078477204e-05, + "chamfer": 7.875354640418664e-06, + "track": 2.657976892805891e-06, + "acceleration": 2.03287058297974e-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": 1.1146211363666225e-05, + "observation_loss": 1.0909186130447779e-05, + "chamfer": 8.065741894824896e-06, + "track": 2.8434440082492074e-06, + "acceleration": 2.3702490636878792e-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": 1.1475406608951744e-05, + "observation_loss": 1.126903862314066e-05, + "chamfer": 8.268473720818292e-06, + "track": 3.0005651296960423e-06, + "acceleration": 2.0636791475681093e-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": 1.155823701992631e-05, + "observation_loss": 1.144697489507962e-05, + "chamfer": 8.352352779184002e-06, + "track": 3.0946221158956178e-06, + "acceleration": 1.1126222432267241e-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": 1.1936884220631327e-05, + "observation_loss": 1.16851970233256e-05, + "chamfer": 8.501152478856966e-06, + "track": 3.1840449992159847e-06, + "acceleration": 2.516871688840183e-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": 1.2267521924513858e-05, + "observation_loss": 1.2025670912407804e-05, + "chamfer": 8.70504754857393e-06, + "track": 3.320623136460199e-06, + "acceleration": 2.418513531665667e-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": 1.2368873285595328e-05, + "observation_loss": 1.227499706146773e-05, + "chamfer": 8.841101589496247e-06, + "track": 3.4338952445978066e-06, + "acceleration": 9.387667176952164e-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": 1.2462326594686601e-05, + "observation_loss": 1.2382469321892131e-05, + "chamfer": 8.892998266674113e-06, + "track": 3.4894710552180186e-06, + "acceleration": 7.985744332472677e-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": 1.2518710718723014e-05, + "observation_loss": 1.2449549103621393e-05, + "chamfer": 8.934101970226038e-06, + "track": 3.5154469060216798e-06, + "acceleration": 6.916177142102242e-08, + "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": 1.252149377251044e-05, + "observation_loss": 1.2463113307603635e-05, + "chamfer": 8.915698344935663e-06, + "track": 3.5474154174153227e-06, + "acceleration": 5.838034766725286e-08, + "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": 1.2540021998574957e-05, + "observation_loss": 1.2488767424656544e-05, + "chamfer": 8.906420589482877e-06, + "track": 3.582346607799991e-06, + "acceleration": 5.125469471067845e-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": 1.2602835340658203e-05, + "observation_loss": 1.2467154192563612e-05, + "chamfer": 8.900638931663707e-06, + "track": 3.566515260899905e-06, + "acceleration": 1.356811054620266e-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": 1.2566404620883986e-05, + "observation_loss": 1.2432126823114231e-05, + "chamfer": 8.88039812707575e-06, + "track": 3.55172824129113e-06, + "acceleration": 1.342779683000117e-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": 1.2421709470800124e-05, + "observation_loss": 1.2404310837155208e-05, + "chamfer": 8.851293387124315e-06, + "track": 3.5530172226572176e-06, + "acceleration": 1.7398345875108134e-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": 1.2426817193045281e-05, + "observation_loss": 1.2372731362120248e-05, + "chamfer": 8.819708455121145e-06, + "track": 3.553022452251753e-06, + "acceleration": 5.408614356383623e-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": 1.2466365660657175e-05, + "observation_loss": 1.2347649317234755e-05, + "chamfer": 8.79615981830284e-06, + "track": 3.5514890441845637e-06, + "acceleration": 1.1871591709677887e-07, + "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": 1.2359949323581532e-05, + "observation_loss": 1.2247427548572887e-05, + "chamfer": 8.739866643736605e-06, + "track": 3.507560904836282e-06, + "acceleration": 1.125217607977902e-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": 1.2109063391108066e-05, + "observation_loss": 1.2066300769220106e-05, + "chamfer": 8.64180128701264e-06, + "track": 3.424499027460115e-06, + "acceleration": 4.2762216878600157e-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": 9.538198715593657e-06, + "chamfer_mean": 6.596845158431582e-06, + "track_mean": 1.9108445693897616e-06, + "acceleration_mean": 1.03050902141207e-06, + "observation_score": 8.507689730189819e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4304943260012806 + }, + "score_arrays_file": "pass_scores/pass_end_0134.npz", + "score_arrays_sha256": "b1c92e8081cb513879fe5b7c3bdb0caf58c093cdab80b320fcf4d3a94ed21767" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0135.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0135.json new file mode 100644 index 0000000000000000000000000000000000000000..c1521b38dbe4098a5fcdb2cbda1dbe4db7352e7f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0135.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 12960, + "completed_passes": 135, + "snapshot": "pass_end_0135", + "candidate": true, + "snapshot_arrays_sha256": "f6d1d854b5464fb90762b57d132f7f0b8f98346a15ecb3fad35d4c11669e72c4", + "score": 8.49822514699857e-06, + "score_result": { + "score": 8.49822514699857e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.957554897875525e-06, + 3.3221972444152925e-06, + 3.7294098547135945e-06, + 4.621966581908055e-06, + 5.501481609826442e-06, + 5.918808710703161e-06, + 5.957923349342309e-06, + 5.819590114697348e-06, + 5.6207572924904525e-06, + 5.576456260314444e-06, + 5.730093107558787e-06, + 5.919904651818797e-06, + 6.165455488371663e-06, + 6.336174010357354e-06, + 6.45328236714704e-06, + 6.588527867279481e-06, + 6.4528580878686626e-06, + 6.169206699269125e-06, + 5.982177754049189e-06, + 5.952708306722343e-06, + 5.95988876739284e-06, + 5.83954624744365e-06, + 5.591491117229452e-06, + 5.473829332913738e-06, + 5.6498442972952034e-06, + 6.01187502979883e-06, + 6.295070306805428e-06, + 6.4243326960422564e-06, + 6.387891062331619e-06, + 6.2666549638379365e-06, + 6.179016054375097e-06, + 6.2520639403373934e-06, + 6.408394710888388e-06, + 6.682462299067993e-06, + 6.921545718796551e-06, + 7.256362550833728e-06, + 7.547815584985074e-06, + 7.609443855471909e-06, + 7.540755632362561e-06, + 7.65861477702856e-06, + 8.01464011601638e-06, + 8.358381819562055e-06, + 8.490262189297937e-06, + 8.635486665298231e-06, + 8.676232027937658e-06, + 8.661273568577599e-06, + 8.647287359053735e-06, + 8.988862646219786e-06, + 9.593894901627209e-06, + 1.0055809980258346e-05, + 9.891177796816919e-06, + 9.550536560709588e-06, + 9.28695772017818e-06, + 9.035589755512774e-06, + 8.988062290882226e-06, + 9.038085408974439e-06, + 9.056766430148855e-06, + 9.064261575986166e-06, + 9.108366612053942e-06, + 9.192897778120823e-06, + 9.30508667806862e-06, + 9.37339700612938e-06, + 9.579133802617434e-06, + 9.813052201934624e-06, + 1.0143834515474737e-05, + 1.0240608389722183e-05, + 1.025383153319126e-05, + 1.0244852092000656e-05, + 1.0204125828749966e-05, + 1.0069584277516697e-05, + 9.868085726338904e-06, + 9.788054740056396e-06, + 9.745539500727318e-06, + 9.75959119386971e-06, + 9.843730367720127e-06, + 9.957087058865e-06, + 1.0044100235973019e-05, + 1.018912280414952e-05, + 1.053945925377775e-05, + 1.0912252037087455e-05, + 1.1272263691353146e-05, + 1.1450707461335696e-05, + 1.1686528523568995e-05, + 1.202819294121582e-05, + 1.2276130291866139e-05, + 1.2386200978653505e-05, + 1.245283056050539e-05, + 1.24681737361243e-05, + 1.2492426321841776e-05, + 1.2470906767703127e-05, + 1.2435800272214692e-05, + 1.2408812835928984e-05, + 1.2377156963339075e-05, + 1.235401850863127e-05, + 1.2253541171958204e-05, + 1.2073127436451614e-05 + ] + ], + "episode_mean_losses": [ + 8.49822514699857e-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": 2.957554897875525e-06, + "observation_loss": 2.957554897875525e-06, + "chamfer": 2.5083816126425518e-06, + "track": 4.49173398919811e-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": 4.457253817236051e-05, + "observation_loss": 3.3221972444152925e-06, + "chamfer": 2.8103258955525234e-06, + "track": 5.118712351759314e-07, + "acceleration": 4.1250339563703164e-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": 2.7053923986386508e-05, + "observation_loss": 3.7294098547135945e-06, + "chamfer": 3.146896915495745e-06, + "track": 5.825128823744308e-07, + "acceleration": 2.3324513676925562e-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": 1.2809870895580389e-05, + "observation_loss": 4.621966581908055e-06, + "chamfer": 3.849071163131157e-06, + "track": 7.728954756203166e-07, + "acceleration": 8.187904313672334e-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": 9.903204045258462e-06, + "observation_loss": 5.501481609826442e-06, + "chamfer": 4.503624950302765e-06, + "track": 9.978568868973525e-07, + "acceleration": 4.4017224354320206e-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": 7.591998382849852e-06, + "observation_loss": 5.918808710703161e-06, + "chamfer": 4.783864369528601e-06, + "track": 1.1349441138008842e-06, + "acceleration": 1.6731895584598533e-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": 7.220973202493042e-06, + "observation_loss": 5.957923349342309e-06, + "chamfer": 4.785076271218713e-06, + "track": 1.172847305497271e-06, + "acceleration": 1.2630498531507328e-06, + "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": 6.407820819731569e-06, + "observation_loss": 5.819590114697348e-06, + "chamfer": 4.673862349591218e-06, + "track": 1.145727537732455e-06, + "acceleration": 5.882308187210583e-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": 6.574585313501302e-06, + "observation_loss": 5.6207572924904525e-06, + "chamfer": 4.529706984612858e-06, + "track": 1.0910500805039192e-06, + "acceleration": 9.53828248384525e-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": 6.426816526072798e-06, + "observation_loss": 5.576456260314444e-06, + "chamfer": 4.519361482380191e-06, + "track": 1.057094891621091e-06, + "acceleration": 8.503602089149354e-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": 6.137958735052962e-06, + "observation_loss": 5.730093107558787e-06, + "chamfer": 4.6696263780177105e-06, + "track": 1.060466502167401e-06, + "acceleration": 4.0786579802443157e-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": 6.349371687974781e-06, + "observation_loss": 5.919904651818797e-06, + "chamfer": 4.83423445984954e-06, + "track": 1.0856703056560946e-06, + "acceleration": 4.294669224691461e-07, + "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": 6.755005415470805e-06, + "observation_loss": 6.165455488371663e-06, + "chamfer": 5.0499593271524645e-06, + "track": 1.1154961612191983e-06, + "acceleration": 5.895496997254668e-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": 6.671566097793402e-06, + "observation_loss": 6.336174010357354e-06, + "chamfer": 5.1994820751133375e-06, + "track": 1.1366921626176918e-06, + "acceleration": 3.353920590143389e-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": 6.651270268775988e-06, + "observation_loss": 6.45328236714704e-06, + "chamfer": 5.304816113493871e-06, + "track": 1.1484660262794932e-06, + "acceleration": 1.9798781636382046e-07, + "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": 7.054238722048467e-06, + "observation_loss": 6.588527867279481e-06, + "chamfer": 5.4205102060223e-06, + "track": 1.1680178886308568e-06, + "acceleration": 4.6571091161240474e-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": 6.711951300530927e-06, + "observation_loss": 6.4528580878686626e-06, + "chamfer": 5.3132530410948675e-06, + "track": 1.1396049330869573e-06, + "acceleration": 2.590932126622647e-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": 6.429573204513872e-06, + "observation_loss": 6.169206699269125e-06, + "chamfer": 5.0947392082889564e-06, + "track": 1.074467377293331e-06, + "acceleration": 2.6036644840132794e-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": 6.140927325759549e-06, + "observation_loss": 5.982177754049189e-06, + "chamfer": 4.95473068440333e-06, + "track": 1.0274469559590216e-06, + "acceleration": 1.5874968539719703e-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": 6.075348210288212e-06, + "observation_loss": 5.952708306722343e-06, + "chamfer": 4.934410753776319e-06, + "track": 1.0182976666328614e-06, + "acceleration": 1.22639690403048e-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": 6.152727110020351e-06, + "observation_loss": 5.95988876739284e-06, + "chamfer": 4.938951406074921e-06, + "track": 1.0209374750047573e-06, + "acceleration": 1.9283811525383499e-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": 6.0476204453152604e-06, + "observation_loss": 5.83954624744365e-06, + "chamfer": 4.8481956582691055e-06, + "track": 9.91350361800869e-07, + "acceleration": 2.0807425471502938e-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": 5.777980277343886e-06, + "observation_loss": 5.591491117229452e-06, + "chamfer": 4.654988970287377e-06, + "track": 9.365019764118188e-07, + "acceleration": 1.864892453795619e-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": 5.597741619567387e-06, + "observation_loss": 5.473829332913738e-06, + "chamfer": 4.5540209612227045e-06, + "track": 9.198085990647087e-07, + "acceleration": 1.2391205927997362e-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": 5.782606422144454e-06, + "observation_loss": 5.6498442972952034e-06, + "chamfer": 4.676868684327928e-06, + "track": 9.729757266541128e-07, + "acceleration": 1.3276235222292598e-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": 6.319764906947967e-06, + "observation_loss": 6.01187502979883e-06, + "chamfer": 4.940965027344646e-06, + "track": 1.0709098887673463e-06, + "acceleration": 3.07889763462299e-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": 6.631437827309128e-06, + "observation_loss": 6.295070306805428e-06, + "chamfer": 5.144534043211024e-06, + "track": 1.1505361499075661e-06, + "acceleration": 3.363677194556658e-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": 6.658099664491601e-06, + "observation_loss": 6.4243326960422564e-06, + "chamfer": 5.244130989012774e-06, + "track": 1.1802015933426446e-06, + "acceleration": 2.33766911605926e-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": 6.8842391556245275e-06, + "observation_loss": 6.387891062331619e-06, + "chamfer": 5.223206244409084e-06, + "track": 1.1646849316093721e-06, + "acceleration": 4.963479227626522e-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": 6.498697075585369e-06, + "observation_loss": 6.2666549638379365e-06, + "chamfer": 5.1336664910195395e-06, + "track": 1.1329887001920724e-06, + "acceleration": 2.320420264823042e-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": 6.247186774999136e-06, + "observation_loss": 6.179016054375097e-06, + "chamfer": 5.071444775239797e-06, + "track": 1.1075715065089753e-06, + "acceleration": 6.817056430463708e-08, + "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": 6.295719231275143e-06, + "observation_loss": 6.2520639403373934e-06, + "chamfer": 5.1318079385964666e-06, + "track": 1.1202558880540892e-06, + "acceleration": 4.365523764704449e-08, + "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": 6.466750619438244e-06, + "observation_loss": 6.408394710888388e-06, + "chamfer": 5.2565096666512545e-06, + "track": 1.1518850442371331e-06, + "acceleration": 5.835601513126676e-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": 6.789898634451674e-06, + "observation_loss": 6.682462299067993e-06, + "chamfer": 5.459309249999933e-06, + "track": 1.2231532764417352e-06, + "acceleration": 1.0743637091081837e-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": 7.012933565420099e-06, + "observation_loss": 6.921545718796551e-06, + "chamfer": 5.642662017635303e-06, + "track": 1.2788838148480863e-06, + "acceleration": 9.138790346696624e-08, + "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": 7.406571057799738e-06, + "observation_loss": 7.256362550833728e-06, + "chamfer": 5.891979526495561e-06, + "track": 1.3643829106513294e-06, + "acceleration": 1.5020850696600974e-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": 7.606174676766386e-06, + "observation_loss": 7.547815584985074e-06, + "chamfer": 6.104489330027718e-06, + "track": 1.443326482331031e-06, + "acceleration": 5.835894256733809e-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": 7.979810106917284e-06, + "observation_loss": 7.609443855471909e-06, + "chamfer": 6.159958502394147e-06, + "track": 1.4494852393909241e-06, + "acceleration": 3.7036593880657165e-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": 7.680931048525963e-06, + "observation_loss": 7.540755632362561e-06, + "chamfer": 6.129454959591385e-06, + "track": 1.4113005590843386e-06, + "acceleration": 1.4017575722391484e-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": 7.846345397410914e-06, + "observation_loss": 7.65861477702856e-06, + "chamfer": 6.223571290320251e-06, + "track": 1.4350436003951472e-06, + "acceleration": 1.8773090459944797e-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": 8.265069482149556e-06, + "observation_loss": 8.01464011601638e-06, + "chamfer": 6.47712113277521e-06, + "track": 1.5375190969280084e-06, + "acceleration": 2.504297356153984e-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": 8.53061010275269e-06, + "observation_loss": 8.358381819562055e-06, + "chamfer": 6.71584621159127e-06, + "track": 1.6425351532234345e-06, + "acceleration": 1.7222839687747182e-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": 8.587318916397635e-06, + "observation_loss": 8.490262189297937e-06, + "chamfer": 6.788724931539036e-06, + "track": 1.7015369166983874e-06, + "acceleration": 9.705666315085182e-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": 8.6810759967193e-06, + "observation_loss": 8.635486665298231e-06, + "chamfer": 6.882085017423378e-06, + "track": 1.7534021026222035e-06, + "acceleration": 4.558974708857022e-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": 8.755311682762112e-06, + "observation_loss": 8.676232027937658e-06, + "chamfer": 6.904364454385359e-06, + "track": 1.7718679146128125e-06, + "acceleration": 7.90792427096676e-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": 8.752530447964091e-06, + "observation_loss": 8.661273568577599e-06, + "chamfer": 6.892428700666642e-06, + "track": 1.7688446405372815e-06, + "acceleration": 9.125687938649207e-08, + "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": 8.854036423144862e-06, + "observation_loss": 8.647287359053735e-06, + "chamfer": 6.878836757095996e-06, + "track": 1.7684502608972252e-06, + "acceleration": 2.0674895040428964e-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": 9.123172276304103e-06, + "observation_loss": 8.988862646219786e-06, + "chamfer": 7.10993572283769e-06, + "track": 1.8789265823215828e-06, + "acceleration": 1.3430991430141148e-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": 9.678299647930544e-06, + "observation_loss": 9.593894901627209e-06, + "chamfer": 7.503144388465444e-06, + "track": 2.09075028578809e-06, + "acceleration": 8.440474630333483e-08, + "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": 1.032246927934466e-05, + "observation_loss": 1.0055809980258346e-05, + "chamfer": 7.812913281668443e-06, + "track": 2.2428962438425515e-06, + "acceleration": 2.666596685685363e-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": 1.003310717351269e-05, + "observation_loss": 9.891177796816919e-06, + "chamfer": 7.707725671934895e-06, + "track": 2.1834521248820238e-06, + "acceleration": 1.4192933406320662e-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": 9.723265065986197e-06, + "observation_loss": 9.550536560709588e-06, + "chamfer": 7.49637092667399e-06, + "track": 2.054165861409274e-06, + "acceleration": 1.7272833474635263e-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": 9.329376553068869e-06, + "observation_loss": 9.28695772017818e-06, + "chamfer": 7.325494607357541e-06, + "track": 1.9614626580732875e-06, + "acceleration": 4.241872275656533e-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": 9.086851605388802e-06, + "observation_loss": 9.035589755512774e-06, + "chamfer": 7.143168659240473e-06, + "track": 1.892421437332814e-06, + "acceleration": 5.1261576317074287e-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": 9.046706509252544e-06, + "observation_loss": 8.988062290882226e-06, + "chamfer": 7.101642040652223e-06, + "track": 1.8864204776036786e-06, + "acceleration": 5.864384888809582e-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": 9.117461559071671e-06, + "observation_loss": 9.038085408974439e-06, + "chamfer": 7.129690402507549e-06, + "track": 1.9083950064668898e-06, + "acceleration": 7.93759511452663e-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": 9.12105679162778e-06, + "observation_loss": 9.056766430148855e-06, + "chamfer": 7.13942245056387e-06, + "track": 1.9173435248376336e-06, + "acceleration": 6.429029753007853e-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": 9.209548807120882e-06, + "observation_loss": 9.064261575986166e-06, + "chamfer": 7.122057922970271e-06, + "track": 1.9422034256422194e-06, + "acceleration": 1.4528752956266544e-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": 9.413114639755804e-06, + "observation_loss": 9.108366612053942e-06, + "chamfer": 7.15178521204507e-06, + "track": 1.9565811726351967e-06, + "acceleration": 3.047479992801527e-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": 9.864665116765536e-06, + "observation_loss": 9.192897778120823e-06, + "chamfer": 7.1852732617117e-06, + "track": 2.0076247437827988e-06, + "acceleration": 6.717677365486452e-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": 1.0227035090792924e-05, + "observation_loss": 9.30508667806862e-06, + "chamfer": 7.261724931595381e-06, + "track": 2.043361746473238e-06, + "acceleration": 9.219482421940484e-07, + "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": 9.831301213125698e-06, + "observation_loss": 9.37339700612938e-06, + "chamfer": 7.307574833248509e-06, + "track": 2.0658221728808712e-06, + "acceleration": 4.5790466174366884e-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": 9.72347697825171e-06, + "observation_loss": 9.579133802617434e-06, + "chamfer": 7.452013505826471e-06, + "track": 2.1271200694172876e-06, + "acceleration": 1.4434318984513084e-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": 9.90421813185094e-06, + "observation_loss": 9.813052201934624e-06, + "chamfer": 7.595057468279265e-06, + "track": 2.217994506281684e-06, + "acceleration": 9.116565991007519e-08, + "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": 1.019350384012796e-05, + "observation_loss": 1.0143834515474737e-05, + "chamfer": 7.80470872996375e-06, + "track": 2.3391260128846625e-06, + "acceleration": 4.9669719004441504e-08, + "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": 1.0281823051627725e-05, + "observation_loss": 1.0240608389722183e-05, + "chamfer": 7.859284778533038e-06, + "track": 2.381323838562821e-06, + "acceleration": 4.121433150316989e-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": 1.0437457603984512e-05, + "observation_loss": 1.025383153319126e-05, + "chamfer": 7.853267561586108e-06, + "track": 2.4005637442314764e-06, + "acceleration": 1.8362609921496187e-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": 1.0352358913223725e-05, + "observation_loss": 1.0244852092000656e-05, + "chamfer": 7.807680049154442e-06, + "track": 2.437171588098863e-06, + "acceleration": 1.0750695622618878e-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": 1.0279494745191187e-05, + "observation_loss": 1.0204125828749966e-05, + "chamfer": 7.755720616842154e-06, + "track": 2.4484052119078115e-06, + "acceleration": 7.536913670946888e-08, + "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": 1.0317789929104038e-05, + "observation_loss": 1.0069584277516697e-05, + "chamfer": 7.669170372537337e-06, + "track": 2.4004139049793594e-06, + "acceleration": 2.482056800090504e-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": 1.0467720130691305e-05, + "observation_loss": 9.868085726338904e-06, + "chamfer": 7.556694072263781e-06, + "track": 2.311391881448799e-06, + "acceleration": 5.996348590997513e-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": 1.0146651220566127e-05, + "observation_loss": 9.788054740056396e-06, + "chamfer": 7.4963518272852525e-06, + "track": 2.2917031401448185e-06, + "acceleration": 3.585967363051168e-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": 9.951845640898682e-06, + "observation_loss": 9.745539500727318e-06, + "chamfer": 7.4710260378196836e-06, + "track": 2.2745132355339592e-06, + "acceleration": 2.0630639596674882e-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": 9.886657608149108e-06, + "observation_loss": 9.75959119386971e-06, + "chamfer": 7.485851710953284e-06, + "track": 2.2737392555427505e-06, + "acceleration": 1.2706645691196172e-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": 9.921600394591223e-06, + "observation_loss": 9.843730367720127e-06, + "chamfer": 7.548270787083311e-06, + "track": 2.295459580636816e-06, + "acceleration": 7.787043898588308e-08, + "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": 9.995589607569855e-06, + "observation_loss": 9.957087058865e-06, + "chamfer": 7.618777090101503e-06, + "track": 2.3383099687634967e-06, + "acceleration": 3.8502637522697114e-08, + "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": 1.0148224646400195e-05, + "observation_loss": 1.0044100235973019e-05, + "chamfer": 7.641340744157787e-06, + "track": 2.402759719188907e-06, + "acceleration": 1.0412474438226127e-07, + "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": 1.0357382052461617e-05, + "observation_loss": 1.018912280414952e-05, + "chamfer": 7.706355063419323e-06, + "track": 2.4827677407301962e-06, + "acceleration": 1.6825882198645559e-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": 1.0742650374595542e-05, + "observation_loss": 1.053945925377775e-05, + "chamfer": 7.879455552028958e-06, + "track": 2.6600034743751166e-06, + "acceleration": 2.031908792332615e-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": 1.1149963029311039e-05, + "observation_loss": 1.0912252037087455e-05, + "chamfer": 8.067570888670161e-06, + "track": 2.844680693669943e-06, + "acceleration": 2.3771117696469446e-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": 1.1479809472803026e-05, + "observation_loss": 1.1272263691353146e-05, + "chamfer": 8.270628313766792e-06, + "track": 3.001635604960029e-06, + "acceleration": 2.0754571039560687e-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": 1.1560651728359517e-05, + "observation_loss": 1.1450707461335696e-05, + "chamfer": 8.35491118778009e-06, + "track": 3.095796046181931e-06, + "acceleration": 1.0994394727958934e-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": 1.1935995644307695e-05, + "observation_loss": 1.1686528523568995e-05, + "chamfer": 8.502224773110356e-06, + "track": 3.18430420520599e-06, + "acceleration": 2.494668933650246e-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": 1.2264933502592612e-05, + "observation_loss": 1.202819294121582e-05, + "chamfer": 8.70716121426085e-06, + "track": 3.3210321817023214e-06, + "acceleration": 2.3674058979850088e-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": 1.23649606393883e-05, + "observation_loss": 1.2276130291866139e-05, + "chamfer": 8.842576789902523e-06, + "track": 3.4335530472162645e-06, + "acceleration": 8.882999935622138e-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": 1.246052033820888e-05, + "observation_loss": 1.2386200978653505e-05, + "chamfer": 8.896130566427018e-06, + "track": 3.490070412226487e-06, + "acceleration": 7.431911797084467e-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": 1.2519299161795061e-05, + "observation_loss": 1.245283056050539e-05, + "chamfer": 8.937436177802738e-06, + "track": 3.515394610076328e-06, + "acceleration": 6.646835970514076e-08, + "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": 1.2524765224952716e-05, + "observation_loss": 1.24681737361243e-05, + "chamfer": 8.920040272641927e-06, + "track": 3.548133690856048e-06, + "acceleration": 5.6591222374891004e-08, + "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": 1.2542403055704199e-05, + "observation_loss": 1.2492426321841776e-05, + "chamfer": 8.909636562748346e-06, + "track": 3.5827902138407808e-06, + "acceleration": 4.997707492293557e-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": 1.2603051800397225e-05, + "observation_loss": 1.2470906767703127e-05, + "chamfer": 8.903773050406016e-06, + "track": 3.5671334899234353e-06, + "acceleration": 1.3214508953751647e-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": 1.256332870980259e-05, + "observation_loss": 1.2435800272214692e-05, + "chamfer": 8.88379872776568e-06, + "track": 3.552001771822688e-06, + "acceleration": 1.275288923352491e-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": 1.2421088285918813e-05, + "observation_loss": 1.2408812835928984e-05, + "chamfer": 8.855216947267763e-06, + "track": 3.5535954339138698e-06, + "acceleration": 1.2275394034588771e-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": 1.2428593436197843e-05, + "observation_loss": 1.2377156963339075e-05, + "chamfer": 8.823483767628204e-06, + "track": 3.553673423084547e-06, + "acceleration": 5.143681391928112e-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": 1.2470645742723718e-05, + "observation_loss": 1.235401850863127e-05, + "chamfer": 8.801044714346062e-06, + "track": 3.5529735669115325e-06, + "acceleration": 1.1662762489095257e-07, + "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": 1.2363541827653535e-05, + "observation_loss": 1.2253541171958204e-05, + "chamfer": 8.744398655835539e-06, + "track": 3.5091427434963407e-06, + "acceleration": 1.1000055621934735e-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": 1.2113756383769214e-05, + "observation_loss": 1.2073127436451614e-05, + "chamfer": 8.646855349070393e-06, + "track": 3.4262716326338705e-06, + "acceleration": 4.062926706183134e-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": 9.527175729810248e-06, + "chamfer_mean": 6.589811410625164e-06, + "track_mean": 1.908413715649241e-06, + "acceleration_mean": 1.0289505842272135e-06, + "observation_score": 8.49822514699857e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4312830319995555 + }, + "score_arrays_file": "pass_scores/pass_end_0135.npz", + "score_arrays_sha256": "6907ae05b6b453569355b061a75750ece22458509e226a454ebba08193769806" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0136.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0136.json new file mode 100644 index 0000000000000000000000000000000000000000..8a0c82e40be9b42c3f3edab4d7cb6d19cf98998d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0136.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13056, + "completed_passes": 136, + "snapshot": "pass_end_0136", + "candidate": true, + "snapshot_arrays_sha256": "f0df05a55c307eb20dd4fd4af4ac8891f1975585c3237e0073e2c4a05727bfd0", + "score": 8.488412139702936e-06, + "score_result": { + "score": 8.488412139702936e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.957023980343365e-06, + 3.3192500268341973e-06, + 3.7233887724141823e-06, + 4.608250492310617e-06, + 5.484710527525749e-06, + 5.899404186493484e-06, + 5.936214620305691e-06, + 5.8004761740448885e-06, + 5.602265446214005e-06, + 5.55934093426913e-06, + 5.715843144571409e-06, + 5.904353201913182e-06, + 6.15029512118781e-06, + 6.319573913060594e-06, + 6.434422175516374e-06, + 6.570247478521196e-06, + 6.432676855183672e-06, + 6.149036835267907e-06, + 5.962441264273366e-06, + 5.931539817538578e-06, + 5.937885362072848e-06, + 5.816637894895393e-06, + 5.569486802414758e-06, + 5.452491677715443e-06, + 5.625943231279962e-06, + 5.984530162095325e-06, + 6.268143351917388e-06, + 6.400034635589691e-06, + 6.3672850956209e-06, + 6.248018962651258e-06, + 6.1621522036148235e-06, + 6.2349008658202365e-06, + 6.391019269358367e-06, + 6.664535703748697e-06, + 6.905089776410023e-06, + 7.239154001581483e-06, + 7.529186405008659e-06, + 7.590433597215451e-06, + 7.518371148762526e-06, + 7.634505891473964e-06, + 7.990372978383675e-06, + 8.335077836818527e-06, + 8.466813596896827e-06, + 8.611887096776627e-06, + 8.653398253954947e-06, + 8.639683073852211e-06, + 8.627655915915966e-06, + 8.971876013674773e-06, + 9.580078767612576e-06, + 1.004456771624973e-05, + 9.880067409540061e-06, + 9.541029612591956e-06, + 9.276871423935518e-06, + 9.026304724102374e-06, + 8.976705430541188e-06, + 9.02516876521986e-06, + 9.044757462106645e-06, + 9.053749636223074e-06, + 9.098976988752838e-06, + 9.184603186440654e-06, + 9.297707038058434e-06, + 9.368991413793992e-06, + 9.578605386195704e-06, + 9.818054422794376e-06, + 1.0156411008210853e-05, + 1.0255812412651721e-05, + 1.0270953680446837e-05, + 1.0265736818837468e-05, + 1.0227450729871634e-05, + 1.0093396667798515e-05, + 9.889871762425173e-06, + 9.808702998270746e-06, + 9.762221452547237e-06, + 9.771579243533779e-06, + 9.854275958787184e-06, + 9.96443304757122e-06, + 1.0048580406873953e-05, + 1.018923103401903e-05, + 1.0536599802435376e-05, + 1.0906193892878946e-05, + 1.1266540241194889e-05, + 1.1446878488641232e-05, + 1.1681630894599948e-05, + 1.2022686860291287e-05, + 1.2271215382497758e-05, + 1.2381938176986296e-05, + 1.2448864254110958e-05, + 1.2463009625207633e-05, + 1.2484073522500694e-05, + 1.2463386156014167e-05, + 1.2427647561708e-05, + 1.2403739674482495e-05, + 1.236918251379393e-05, + 1.234760111401556e-05, + 1.2245887774042785e-05, + 1.206826709676534e-05 + ] + ], + "episode_mean_losses": [ + 8.488412139702936e-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": 2.957023980343365e-06, + "observation_loss": 2.957023980343365e-06, + "chamfer": 2.5079418719542446e-06, + "track": 4.4908202312399226e-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": 4.449674452189356e-05, + "observation_loss": 3.3192500268341973e-06, + "chamfer": 2.8078579816792626e-06, + "track": 5.11391931468097e-07, + "acceleration": 4.117749631404877e-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": 2.699308424780611e-05, + "observation_loss": 3.7233887724141823e-06, + "chamfer": 3.1420083814737154e-06, + "track": 5.81380334097048e-07, + "acceleration": 2.32696947932709e-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": 1.2778901691490319e-05, + "observation_loss": 4.608250492310617e-06, + "chamfer": 3.8386988308047876e-06, + "track": 7.69551490975573e-07, + "acceleration": 8.170651199179702e-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": 9.886049156193621e-06, + "observation_loss": 5.484710527525749e-06, + "chamfer": 4.491984327614773e-06, + "track": 9.92726199910976e-07, + "acceleration": 4.401339083415223e-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": 7.569091849290999e-06, + "observation_loss": 5.899404186493484e-06, + "chamfer": 4.771152362081921e-06, + "track": 1.1282519380984013e-06, + "acceleration": 1.6696876627975143e-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": 7.178028681664728e-06, + "observation_loss": 5.936214620305691e-06, + "chamfer": 4.7708290367154405e-06, + "track": 1.165385356216575e-06, + "acceleration": 1.2418141750458744e-06, + "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": 6.392969680746319e-06, + "observation_loss": 5.8004761740448885e-06, + "chamfer": 4.661352704715682e-06, + "track": 1.139123583016044e-06, + "acceleration": 5.924933930145926e-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": 6.56902329865261e-06, + "observation_loss": 5.602265446214005e-06, + "chamfer": 4.5175443119660486e-06, + "track": 1.0847213616216322e-06, + "acceleration": 9.667578524386045e-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": 6.4021351136034355e-06, + "observation_loss": 5.55934093426913e-06, + "chamfer": 4.50799825557624e-06, + "track": 1.0513429060665658e-06, + "acceleration": 8.427944067079807e-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": 6.119126283010701e-06, + "observation_loss": 5.715843144571409e-06, + "chamfer": 4.660256763600046e-06, + "track": 1.055586267284525e-06, + "acceleration": 4.032833373912581e-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": 6.353240678436123e-06, + "observation_loss": 5.904353201913182e-06, + "chamfer": 4.82354380437755e-06, + "track": 1.0808096249093069e-06, + "acceleration": 4.4888727757097513e-07, + "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": 6.731196208420442e-06, + "observation_loss": 6.15029512118781e-06, + "chamfer": 5.039448296884075e-06, + "track": 1.110846824303735e-06, + "acceleration": 5.809010303892137e-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": 6.62707316223532e-06, + "observation_loss": 6.319573913060594e-06, + "chamfer": 5.187499027670128e-06, + "track": 1.1320747717036284e-06, + "acceleration": 3.074991923313064e-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": 6.666083663731115e-06, + "observation_loss": 6.434422175516374e-06, + "chamfer": 5.290969511406729e-06, + "track": 1.1434528914833209e-06, + "acceleration": 2.3166128926277452e-07, + "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": 7.059727067826316e-06, + "observation_loss": 6.570247478521196e-06, + "chamfer": 5.407070602814201e-06, + "track": 1.163176875706995e-06, + "acceleration": 4.894797598353762e-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": 6.683925676043145e-06, + "observation_loss": 6.432676855183672e-06, + "chamfer": 5.298128598951735e-06, + "track": 1.1345482562319376e-06, + "acceleration": 2.512489061246015e-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": 6.41547012492083e-06, + "observation_loss": 6.149036835267907e-06, + "chamfer": 5.079295988252852e-06, + "track": 1.0697409607018926e-06, + "acceleration": 2.6643314754437597e-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": 6.123251750977943e-06, + "observation_loss": 5.962441264273366e-06, + "chamfer": 4.939371137879789e-06, + "track": 1.023070126393577e-06, + "acceleration": 1.608106146022692e-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": 6.05438162892824e-06, + "observation_loss": 5.931539817538578e-06, + "chamfer": 4.917807473248104e-06, + "track": 1.013732116916799e-06, + "acceleration": 1.228415982268416e-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": 6.1313635342230555e-06, + "observation_loss": 5.937885362072848e-06, + "chamfer": 4.921818799630273e-06, + "track": 1.01606678981625e-06, + "acceleration": 1.9347820057191711e-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": 6.025437869539019e-06, + "observation_loss": 5.816637894895393e-06, + "chamfer": 4.830198122363072e-06, + "track": 9.86439545158646e-07, + "acceleration": 2.088000599087536e-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": 5.755362963100197e-06, + "observation_loss": 5.569486802414758e-06, + "chamfer": 4.637402980733896e-06, + "track": 9.320837648374436e-07, + "acceleration": 1.8587623173971224e-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": 5.5760983741492964e-06, + "observation_loss": 5.452491677715443e-06, + "chamfer": 4.536844699032372e-06, + "track": 9.156470923699089e-07, + "acceleration": 1.2360648327103263e-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": 5.758923634857638e-06, + "observation_loss": 5.625943231279962e-06, + "chamfer": 4.6578911678807344e-06, + "track": 9.680518360255519e-07, + "acceleration": 1.3298023304741946e-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": 6.292912530625472e-06, + "observation_loss": 5.984530162095325e-06, + "chamfer": 4.919639650324825e-06, + "track": 1.0648905117704999e-06, + "acceleration": 3.083822832650185e-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": 6.606455372093478e-06, + "observation_loss": 6.268143351917388e-06, + "chamfer": 5.123647042637458e-06, + "track": 1.1444964229667676e-06, + "acceleration": 3.3831216228463745e-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": 6.6351562963973265e-06, + "observation_loss": 6.400034635589691e-06, + "chamfer": 5.225186214374844e-06, + "track": 1.1748483075280092e-06, + "acceleration": 2.3512185975960165e-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": 6.863523140054895e-06, + "observation_loss": 6.3672850956209e-06, + "chamfer": 5.2071563914068975e-06, + "track": 1.1601289315876784e-06, + "acceleration": 4.962378739037376e-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": 6.476951512013329e-06, + "observation_loss": 6.248018962651258e-06, + "chamfer": 5.119045908941189e-06, + "track": 1.1289729400232318e-06, + "acceleration": 2.2893254936207086e-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": 6.229940026969416e-06, + "observation_loss": 6.1621522036148235e-06, + "chamfer": 5.0581784307723865e-06, + "track": 1.1039738865292748e-06, + "acceleration": 6.778790151429348e-08, + "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": 6.278818091232097e-06, + "observation_loss": 6.2349008658202365e-06, + "chamfer": 5.118106400914257e-06, + "track": 1.1167945785928168e-06, + "acceleration": 4.3917161463014054e-08, + "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": 6.451529770856723e-06, + "observation_loss": 6.391019269358367e-06, + "chamfer": 5.2425830290303566e-06, + "track": 1.1484364677016856e-06, + "acceleration": 6.051028833553573e-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": 6.7746245804301e-06, + "observation_loss": 6.664535703748697e-06, + "chamfer": 5.444907401397359e-06, + "track": 1.2196284160381765e-06, + "acceleration": 1.1008881983798346e-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": 6.995408512011636e-06, + "observation_loss": 6.905089776410023e-06, + "chamfer": 5.629644874716178e-06, + "track": 1.2754449016938452e-06, + "acceleration": 9.031877823417744e-08, + "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": 7.3889373197744135e-06, + "observation_loss": 7.239154001581483e-06, + "chamfer": 5.878440333617618e-06, + "track": 1.3607136679638643e-06, + "acceleration": 1.4978311924096488e-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": 7.587006621179171e-06, + "observation_loss": 7.529186405008659e-06, + "chamfer": 6.090187071094988e-06, + "track": 1.4389994476005086e-06, + "acceleration": 5.78200385348282e-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": 7.956394256325439e-06, + "observation_loss": 7.590433597215451e-06, + "chamfer": 6.145482984720729e-06, + "track": 1.444950612494722e-06, + "acceleration": 3.659603464711836e-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": 7.658000868104864e-06, + "observation_loss": 7.518371148762526e-06, + "chamfer": 6.112308710726211e-06, + "track": 1.4060625517231529e-06, + "acceleration": 1.3962977618575678e-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": 7.822233783372212e-06, + "observation_loss": 7.634505891473964e-06, + "chamfer": 6.205440513440408e-06, + "track": 1.4290651506598806e-06, + "acceleration": 1.8772753662688046e-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": 8.241303476097528e-06, + "observation_loss": 7.990372978383675e-06, + "chamfer": 6.459299584093969e-06, + "track": 1.5310731669160305e-06, + "acceleration": 2.5093021349675837e-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": 8.508658538630698e-06, + "observation_loss": 8.335077836818527e-06, + "chamfer": 6.698928245896241e-06, + "track": 1.6361493635486113e-06, + "acceleration": 1.7358091497499117e-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": 8.563659321225714e-06, + "observation_loss": 8.466813596896827e-06, + "chamfer": 6.771575499442406e-06, + "track": 1.6952376427070703e-06, + "acceleration": 9.68457953831603e-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": 8.657191756356042e-06, + "observation_loss": 8.611887096776627e-06, + "chamfer": 6.865006980660837e-06, + "track": 1.7468805708631407e-06, + "acceleration": 4.530506458877426e-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": 8.732509741093963e-06, + "observation_loss": 8.653398253954947e-06, + "chamfer": 6.887739345984301e-06, + "track": 1.7656589079706464e-06, + "acceleration": 7.91112668707683e-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": 8.731325578992255e-06, + "observation_loss": 8.639683073852211e-06, + "chamfer": 6.876731276861392e-06, + "track": 1.7629521380513324e-06, + "acceleration": 9.164212144696648e-08, + "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": 8.834766049403697e-06, + "observation_loss": 8.627655915915966e-06, + "chamfer": 6.864557690278161e-06, + "track": 1.7630978845772916e-06, + "acceleration": 2.0711034665055195e-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": 9.106235665967688e-06, + "observation_loss": 8.971876013674773e-06, + "chamfer": 7.097698016877985e-06, + "track": 1.8741779967967886e-06, + "acceleration": 1.3435972334718826e-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": 9.664541721576825e-06, + "observation_loss": 9.580078767612576e-06, + "chamfer": 7.4932836469088215e-06, + "track": 2.0867948933300795e-06, + "acceleration": 8.446260579830778e-08, + "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": 1.0312208360119257e-05, + "observation_loss": 1.004456771624973e-05, + "chamfer": 7.805061613908038e-06, + "track": 2.2395058749680175e-06, + "acceleration": 2.676403028090135e-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": 1.0023651157098357e-05, + "observation_loss": 9.880067409540061e-06, + "chamfer": 7.699717571085785e-06, + "track": 2.1803498384542763e-06, + "acceleration": 1.4358406019709946e-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": 9.71580266195815e-06, + "observation_loss": 9.541029612591956e-06, + "chamfer": 7.489632480428554e-06, + "track": 2.051397359537077e-06, + "acceleration": 1.747733620049985e-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": 9.319462151324842e-06, + "observation_loss": 9.276871423935518e-06, + "chamfer": 7.3182554842787795e-06, + "track": 1.958615939656738e-06, + "acceleration": 4.2591178583961664e-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": 9.077552931557875e-06, + "observation_loss": 9.026304724102374e-06, + "chamfer": 7.13692907083896e-06, + "track": 1.8893755395765766e-06, + "acceleration": 5.1248250088065106e-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": 9.035445145855192e-06, + "observation_loss": 8.976705430541188e-06, + "chamfer": 7.093892691045767e-06, + "track": 1.882813080555934e-06, + "acceleration": 5.874012387607763e-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": 9.109799975703936e-06, + "observation_loss": 9.02516876521986e-06, + "chamfer": 7.120668215065962e-06, + "track": 1.904500209093385e-06, + "acceleration": 8.463109679723857e-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": 9.13186067919014e-06, + "observation_loss": 9.044757462106645e-06, + "chamfer": 7.13100416760426e-06, + "track": 1.913753749249736e-06, + "acceleration": 8.710342314088848e-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": 9.206804861605633e-06, + "observation_loss": 9.053749636223074e-06, + "chamfer": 7.114968411769951e-06, + "track": 1.938780997079448e-06, + "acceleration": 1.53055125906576e-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": 9.405569471709896e-06, + "observation_loss": 9.098976988752838e-06, + "chamfer": 7.145507879613433e-06, + "track": 1.953469109139405e-06, + "acceleration": 3.065924261136388e-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": 9.860155842034146e-06, + "observation_loss": 9.184603186440654e-06, + "chamfer": 7.179968179116258e-06, + "track": 2.0046350073243957e-06, + "acceleration": 6.755529966540053e-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": 1.0225974619970657e-05, + "observation_loss": 9.297707038058434e-06, + "chamfer": 7.257048764586216e-06, + "track": 2.0406580460985424e-06, + "acceleration": 9.282680366595741e-07, + "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": 9.831745956034865e-06, + "observation_loss": 9.368991413793992e-06, + "chamfer": 7.305186954909004e-06, + "track": 2.063804458884988e-06, + "acceleration": 4.6275451381916355e-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": 9.72526231635129e-06, + "observation_loss": 9.578605386195704e-06, + "chamfer": 7.4523090916045476e-06, + "track": 2.126296521964832e-06, + "acceleration": 1.4665694436644117e-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": 9.911517736327369e-06, + "observation_loss": 9.818054422794376e-06, + "chamfer": 7.598923275509151e-06, + "track": 2.2191309199115494e-06, + "acceleration": 9.34629440507706e-08, + "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": 1.0205991202383302e-05, + "observation_loss": 1.0156411008210853e-05, + "chamfer": 7.813929187250324e-06, + "track": 2.3424815935868537e-06, + "acceleration": 4.958028654300506e-08, + "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": 1.0296595974068623e-05, + "observation_loss": 1.0255812412651721e-05, + "chamfer": 7.869910405133851e-06, + "track": 2.385902234891546e-06, + "acceleration": 4.0783838528568594e-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": 1.0456031304784119e-05, + "observation_loss": 1.0270953680446837e-05, + "chamfer": 7.865315637900494e-06, + "track": 2.4056378151726676e-06, + "acceleration": 1.8507799381950463e-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": 1.0374858902650885e-05, + "observation_loss": 1.0265736818837468e-05, + "chamfer": 7.822712177585345e-06, + "track": 2.4430248686257983e-06, + "acceleration": 1.0912217618397335e-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": 1.0303305316483602e-05, + "observation_loss": 1.0227450729871634e-05, + "chamfer": 7.772468052280601e-06, + "track": 2.4549829049647087e-06, + "acceleration": 7.585453687397603e-08, + "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": 1.0341414963477291e-05, + "observation_loss": 1.0093396667798515e-05, + "chamfer": 7.686129720241297e-06, + "track": 2.407267174930894e-06, + "acceleration": 2.480187220044172e-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": 1.0492083674762398e-05, + "observation_loss": 9.889871762425173e-06, + "chamfer": 7.571911737613846e-06, + "track": 2.3179600248113275e-06, + "acceleration": 6.022122533977381e-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": 1.0171138455916662e-05, + "observation_loss": 9.808702998270746e-06, + "chamfer": 7.510693194490159e-06, + "track": 2.298010031154263e-06, + "acceleration": 3.624357702847192e-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": 9.968032827600837e-06, + "observation_loss": 9.762221452547237e-06, + "chamfer": 7.481747161364183e-06, + "track": 2.2804742911830544e-06, + "acceleration": 2.0581174453582207e-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": 9.896799383568577e-06, + "observation_loss": 9.771579243533779e-06, + "chamfer": 7.493117209378397e-06, + "track": 2.2784622615290573e-06, + "acceleration": 1.2522008319137967e-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": 9.9334383776295e-06, + "observation_loss": 9.854275958787184e-06, + "chamfer": 7.555054253316484e-06, + "track": 2.2992219328443753e-06, + "acceleration": 7.91627670082562e-08, + "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": 1.0002877388615161e-05, + "observation_loss": 9.96443304757122e-06, + "chamfer": 7.623425972269615e-06, + "track": 2.3410075300489552e-06, + "acceleration": 3.8444731842446345e-08, + "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": 1.0155304153158795e-05, + "observation_loss": 1.0048580406873953e-05, + "chamfer": 7.644192010047846e-06, + "track": 2.4043881694524316e-06, + "acceleration": 1.0672398076394529e-07, + "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": 1.0360232408856973e-05, + "observation_loss": 1.018923103401903e-05, + "chamfer": 7.706417818553746e-06, + "track": 2.4828136702126358e-06, + "acceleration": 1.7100151694648957e-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": 1.0740503057604656e-05, + "observation_loss": 1.0536599802435376e-05, + "chamfer": 7.877817552071065e-06, + "track": 2.658782250364311e-06, + "acceleration": 2.0390292831962142e-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": 1.1144898053316865e-05, + "observation_loss": 1.0906193892878946e-05, + "chamfer": 8.063667337410152e-06, + "track": 2.8425267828424694e-06, + "acceleration": 2.3870438781159464e-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": 1.147593320638407e-05, + "observation_loss": 1.1266540241194889e-05, + "chamfer": 8.267054909083527e-06, + "track": 2.999485559485038e-06, + "acceleration": 2.0939275202636054e-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": 1.155586232925998e-05, + "observation_loss": 1.1446878488641232e-05, + "chamfer": 8.35257196740713e-06, + "track": 3.094306293860427e-06, + "acceleration": 1.0898402535985952e-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": 1.1927907507924829e-05, + "observation_loss": 1.1681630894599948e-05, + "chamfer": 8.49924072099384e-06, + "track": 3.1823904009797843e-06, + "acceleration": 2.462764996380429e-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": 1.2256598893145565e-05, + "observation_loss": 1.2022686860291287e-05, + "chamfer": 8.704102583578788e-06, + "track": 3.318584504086175e-06, + "acceleration": 2.3391223180624365e-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": 1.236138450622093e-05, + "observation_loss": 1.2271215382497758e-05, + "chamfer": 8.840426744427532e-06, + "track": 3.430788183322875e-06, + "acceleration": 9.016922319915466e-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": 1.2457523553166538e-05, + "observation_loss": 1.2381938176986296e-05, + "chamfer": 8.894147867977154e-06, + "track": 3.4877903090091422e-06, + "acceleration": 7.558559644849083e-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": 1.2518474250100553e-05, + "observation_loss": 1.2448864254110958e-05, + "chamfer": 8.936312951846048e-06, + "track": 3.5125510748912347e-06, + "acceleration": 6.96103654718172e-08, + "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": 1.2521949429356027e-05, + "observation_loss": 1.2463009625207633e-05, + "chamfer": 8.917832019506022e-06, + "track": 3.5451771509542596e-06, + "acceleration": 5.8939420455317304e-08, + "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": 1.2533238987089135e-05, + "observation_loss": 1.2484073522500694e-05, + "chamfer": 8.905965842131991e-06, + "track": 3.578107680368703e-06, + "acceleration": 4.916545393029992e-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": 1.2593686733453069e-05, + "observation_loss": 1.2463386156014167e-05, + "chamfer": 8.90032242750749e-06, + "track": 3.5630641832540277e-06, + "acceleration": 1.3030050638462853e-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": 1.2552207408589311e-05, + "observation_loss": 1.2427647561708e-05, + "chamfer": 8.880302630132064e-06, + "track": 3.5473449315759353e-06, + "acceleration": 1.2455944897737936e-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": 1.2414890989020932e-05, + "observation_loss": 1.2403739674482495e-05, + "chamfer": 8.853311555867549e-06, + "track": 3.5504285733622964e-06, + "acceleration": 1.1151188417102276e-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": 1.2420672646840103e-05, + "observation_loss": 1.236918251379393e-05, + "chamfer": 8.819908543955535e-06, + "track": 3.5492739698383957e-06, + "acceleration": 5.148997317405701e-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": 1.2465354302548803e-05, + "observation_loss": 1.234760111401556e-05, + "chamfer": 8.798368980933446e-06, + "track": 3.549232133082114e-06, + "acceleration": 1.1775317432238808e-07, + "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": 1.235710624314379e-05, + "observation_loss": 1.2245887774042785e-05, + "chamfer": 8.741107194509823e-06, + "track": 3.504781034280313e-06, + "acceleration": 1.112187533180986e-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": 1.2105697351216804e-05, + "observation_loss": 1.206826709676534e-05, + "chamfer": 8.64517642185092e-06, + "track": 3.4230906749144197e-06, + "acceleration": 3.7430396560012014e-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": 9.516839656479684e-06, + "chamfer_mean": 6.582744030462588e-06, + "track_mean": 1.9056681361817596e-06, + "acceleration_mean": 1.0284275656450663e-06, + "observation_score": 8.488412139702936e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4155519910000294 + }, + "score_arrays_file": "pass_scores/pass_end_0136.npz", + "score_arrays_sha256": "5493d7ebd84f73d5abb85c2124e770765a86b553f19b68fc2edc3d85dba1bbc7" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0137.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0137.json new file mode 100644 index 0000000000000000000000000000000000000000..180e34a297306f925a0848cbb335523f9c23d94b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0137.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13152, + "completed_passes": 137, + "snapshot": "pass_end_0137", + "candidate": true, + "snapshot_arrays_sha256": "55ff7168c163b01f32381455d528ea5c8287b6aadfa049a2ac2ebcf9a57ea0c6", + "score": 8.479965607932627e-06, + "score_result": { + "score": 8.479965607932627e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.956535126941162e-06, + 3.3164142223540694e-06, + 3.7176741898292676e-06, + 4.5948672777740285e-06, + 5.468176823342219e-06, + 5.880520802747924e-06, + 5.91482239542529e-06, + 5.781153049611021e-06, + 5.58403598915902e-06, + 5.542856342799496e-06, + 5.702127964468673e-06, + 5.890218744752929e-06, + 6.136030606285203e-06, + 6.3038842199603096e-06, + 6.416144969989546e-06, + 6.552350896527059e-06, + 6.413159553630976e-06, + 6.129720532044303e-06, + 5.9435301409394015e-06, + 5.911350399401272e-06, + 5.916697318752995e-06, + 5.794667231384665e-06, + 5.5485093071183655e-06, + 5.4324232223734725e-06, + 5.603392764896853e-06, + 5.95901155975298e-06, + 6.243330062716268e-06, + 6.377860700013116e-06, + 6.348376700771041e-06, + 6.2311114561453e-06, + 6.146522082417505e-06, + 6.219601800694363e-06, + 6.376275905495277e-06, + 6.648630915151443e-06, + 6.889872111059958e-06, + 7.222986823762767e-06, + 7.511469448218122e-06, + 7.572630693175597e-06, + 7.498184004361974e-06, + 7.612756235175766e-06, + 7.968510544742458e-06, + 8.314331353176385e-06, + 8.446280844509602e-06, + 8.591064215579536e-06, + 8.633456673123874e-06, + 8.621400411357172e-06, + 8.61111948324833e-06, + 8.95826451596804e-06, + 9.56989242695272e-06, + 1.0036701496574096e-05, + 9.872333976090886e-06, + 9.534125638310798e-06, + 9.269197107641958e-06, + 9.019127901410684e-06, + 8.967424037109595e-06, + 9.014081115310546e-06, + 9.03336604096694e-06, + 9.04358512343606e-06, + 9.089670129469596e-06, + 9.176617822959088e-06, + 9.291362403018866e-06, + 9.366052836412564e-06, + 9.57983957050601e-06, + 9.82518213277217e-06, + 1.0171385838475544e-05, + 1.0273697625962086e-05, + 1.029053601087071e-05, + 1.0288849807693623e-05, + 1.0252048014081083e-05, + 1.0118061254615895e-05, + 9.912132554745767e-06, + 9.82969686447177e-06, + 9.779098036233336e-06, + 9.783756468095817e-06, + 9.864937965176068e-06, + 9.972709449357353e-06, + 1.0053867299575359e-05, + 1.0190283319388982e-05, + 1.0534433386055753e-05, + 1.0900690540438518e-05, + 1.126087227021344e-05, + 1.1442879440437537e-05, + 1.1678142982418649e-05, + 1.2016287655569613e-05, + 1.2267189049453009e-05, + 1.2376171980577055e-05, + 1.2445379070413765e-05, + 1.245838575414382e-05, + 1.2479381439334247e-05, + 1.2458122910175007e-05, + 1.242314920091303e-05, + 1.2399532351992093e-05, + 1.2364199392322917e-05, + 1.2342354239081033e-05, + 1.224017523782095e-05, + 1.2065418559359387e-05 + ] + ], + "episode_mean_losses": [ + 8.479965607932627e-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": 2.956535126941162e-06, + "observation_loss": 2.956535126941162e-06, + "chamfer": 2.5075371468119556e-06, + "track": 4.4899798012920655e-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": 4.442236968316138e-05, + "observation_loss": 3.3164142223540694e-06, + "chamfer": 2.805479880407802e-06, + "track": 5.109343419462675e-07, + "acceleration": 4.110595546080731e-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": 2.6935960704577155e-05, + "observation_loss": 3.7176741898292676e-06, + "chamfer": 3.137372232231428e-06, + "track": 5.803020144412585e-07, + "acceleration": 2.3218286514747888e-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": 1.2746793800033629e-05, + "observation_loss": 4.5948672777740285e-06, + "chamfer": 3.8285934351733886e-06, + "track": 7.662738994440588e-07, + "acceleration": 8.1519265222596e-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": 9.87077692116145e-06, + "observation_loss": 5.468176823342219e-06, + "chamfer": 4.4805074139731005e-06, + "track": 9.87669181995443e-07, + "acceleration": 4.402600552566582e-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": 7.5464422479853965e-06, + "observation_loss": 5.880520802747924e-06, + "chamfer": 4.758839168061968e-06, + "track": 1.1216817483727937e-06, + "acceleration": 1.6659212178637972e-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": 7.139310582715552e-06, + "observation_loss": 5.91482239542529e-06, + "chamfer": 4.7568141781084705e-06, + "track": 1.1580084446904948e-06, + "acceleration": 1.2244883009771002e-06, + "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": 6.374807981046615e-06, + "observation_loss": 5.781153049611021e-06, + "chamfer": 4.6487148210871965e-06, + "track": 1.1324381148369866e-06, + "acceleration": 5.936549314355943e-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": 6.556392690981738e-06, + "observation_loss": 5.58403598915902e-06, + "chamfer": 4.505577635427471e-06, + "track": 1.0784584674183861e-06, + "acceleration": 9.723568155095563e-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": 6.3798415794735774e-06, + "observation_loss": 5.542856342799496e-06, + "chamfer": 4.497088411881123e-06, + "track": 1.0457679309183732e-06, + "acceleration": 8.369852366740815e-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": 6.102667612140067e-06, + "observation_loss": 5.702127964468673e-06, + "chamfer": 4.651237304642564e-06, + "track": 1.0508905461392715e-06, + "acceleration": 4.005395908279752e-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": 6.350765488605248e-06, + "observation_loss": 5.890218744752929e-06, + "chamfer": 4.813883151655318e-06, + "track": 1.0763355930976104e-06, + "acceleration": 4.605467438523192e-07, + "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": 6.704774477839237e-06, + "observation_loss": 6.136030606285203e-06, + "chamfer": 5.0295443543291185e-06, + "track": 1.1064860245824093e-06, + "acceleration": 5.687439852408716e-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": 6.592490535695106e-06, + "observation_loss": 6.3038842199603096e-06, + "chamfer": 5.176204922463512e-06, + "track": 1.1276792974967975e-06, + "acceleration": 2.8860651468676224e-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": 6.677485544059891e-06, + "observation_loss": 6.416144969989546e-06, + "chamfer": 5.277566742734052e-06, + "track": 1.1385782272554934e-06, + "acceleration": 2.613407730223116e-07, + "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": 7.058836217765929e-06, + "observation_loss": 6.552350896527059e-06, + "chamfer": 5.393902938521933e-06, + "track": 1.1584480716919643e-06, + "acceleration": 5.064852643954509e-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": 6.659257451246958e-06, + "observation_loss": 6.413159553630976e-06, + "chamfer": 5.283483460516436e-06, + "track": 1.12967609311454e-06, + "acceleration": 2.4609784077256336e-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": 6.400604434020352e-06, + "observation_loss": 6.129720532044303e-06, + "chamfer": 5.0644830480450764e-06, + "track": 1.0652373703123885e-06, + "acceleration": 2.708837882892112e-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": 6.106350610934896e-06, + "observation_loss": 5.9435301409394015e-06, + "chamfer": 4.924619588564383e-06, + "track": 1.0189106660618563e-06, + "acceleration": 1.6282055526062322e-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": 6.0350234889483545e-06, + "observation_loss": 5.911350399401272e-06, + "chamfer": 4.901969987258781e-06, + "track": 1.0093802984556532e-06, + "acceleration": 1.2367297586024506e-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": 6.111024958954658e-06, + "observation_loss": 5.916697318752995e-06, + "chamfer": 4.905324203718919e-06, + "track": 1.0113732287209132e-06, + "acceleration": 1.9432751230397116e-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": 6.0057686823711265e-06, + "observation_loss": 5.794667231384665e-06, + "chamfer": 4.812923634744948e-06, + "track": 9.817438240133924e-07, + "acceleration": 2.111016215167183e-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": 5.734575097449124e-06, + "observation_loss": 5.5485093071183655e-06, + "chamfer": 4.620620529749431e-06, + "track": 9.278886636820971e-07, + "acceleration": 1.8606573348733946e-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": 5.55619089936954e-06, + "observation_loss": 5.4324232223734725e-06, + "chamfer": 4.520659786066972e-06, + "track": 9.117635499933385e-07, + "acceleration": 1.2376784752632375e-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": 5.7370957620150875e-06, + "observation_loss": 5.603392764896853e-06, + "chamfer": 4.639950020646211e-06, + "track": 9.634427442506421e-07, + "acceleration": 1.3370302553994406e-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": 6.267503522394691e-06, + "observation_loss": 5.95901155975298e-06, + "chamfer": 4.899704890704015e-06, + "track": 1.059306669048965e-06, + "acceleration": 3.084919626417104e-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": 6.5838003138196655e-06, + "observation_loss": 6.243330062716268e-06, + "chamfer": 5.104372121422784e-06, + "track": 1.138958168667159e-06, + "acceleration": 3.404703647902352e-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": 6.61369449517224e-06, + "observation_loss": 6.377860700013116e-06, + "chamfer": 5.20783987667528e-06, + "track": 1.1700208233378362e-06, + "acceleration": 2.3583378094826912e-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": 6.843546998425154e-06, + "observation_loss": 6.348376700771041e-06, + "chamfer": 5.192346179683227e-06, + "track": 1.1560305210878141e-06, + "acceleration": 4.951702408106939e-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": 6.456849405367393e-06, + "observation_loss": 6.2311114561453e-06, + "chamfer": 5.105715899844654e-06, + "track": 1.1253955563006457e-06, + "acceleration": 2.2573777869183687e-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": 6.213669621502049e-06, + "observation_loss": 6.146522082417505e-06, + "chamfer": 5.04585841554217e-06, + "track": 1.1006635531884967e-06, + "acceleration": 6.714741118685197e-08, + "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": 6.263952400331618e-06, + "observation_loss": 6.219601800694363e-06, + "chamfer": 5.105876425659517e-06, + "track": 1.1137253750348464e-06, + "acceleration": 4.4350596084541394e-08, + "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": 6.438805030484218e-06, + "observation_loss": 6.376275905495277e-06, + "chamfer": 5.230754140939098e-06, + "track": 1.1455217645561788e-06, + "acceleration": 6.252923157035184e-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": 6.760888027201872e-06, + "observation_loss": 6.648630915151443e-06, + "chamfer": 5.432075340650044e-06, + "track": 1.2165556881882367e-06, + "acceleration": 1.1225699125816391e-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": 6.9803827500436455e-06, + "observation_loss": 6.889872111059958e-06, + "chamfer": 5.6176049838541076e-06, + "track": 1.2722671272058506e-06, + "acceleration": 9.05107029325336e-08, + "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": 7.3747946771618444e-06, + "observation_loss": 7.222986823762767e-06, + "chamfer": 5.865799721505027e-06, + "track": 1.3571872159445775e-06, + "acceleration": 1.5180793866420572e-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": 7.569573426735587e-06, + "observation_loss": 7.511469448218122e-06, + "chamfer": 6.076569661672693e-06, + "track": 1.4349000139191048e-06, + "acceleration": 5.810416681129027e-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": 7.937129339552484e-06, + "observation_loss": 7.572630693175597e-06, + "chamfer": 6.131963345978875e-06, + "track": 1.4406672335098847e-06, + "acceleration": 3.6449901585910993e-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": 7.637457201781217e-06, + "observation_loss": 7.498184004361974e-06, + "chamfer": 6.096860943216598e-06, + "track": 1.4013230611453764e-06, + "acceleration": 1.392735384797561e-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": 7.800048479111865e-06, + "observation_loss": 7.612756235175766e-06, + "chamfer": 6.189034138515126e-06, + "track": 1.4237219829738024e-06, + "acceleration": 1.8729269868345e-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": 8.22044148662826e-06, + "observation_loss": 7.968510544742458e-06, + "chamfer": 6.443178790505044e-06, + "track": 1.5253320952979266e-06, + "acceleration": 2.5193054398187087e-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": 8.489088031637948e-06, + "observation_loss": 8.314331353176385e-06, + "chamfer": 6.683726041956106e-06, + "track": 1.630604856472928e-06, + "acceleration": 1.747570053112213e-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": 8.543532203475479e-06, + "observation_loss": 8.446280844509602e-06, + "chamfer": 6.7564856180979405e-06, + "track": 1.6897949990379857e-06, + "acceleration": 9.725138738758687e-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": 8.636392522021197e-06, + "observation_loss": 8.591064215579536e-06, + "chamfer": 6.849851615697844e-06, + "track": 1.7412125998816919e-06, + "acceleration": 4.53286368440331e-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": 8.713062925380655e-06, + "observation_loss": 8.633456673123874e-06, + "chamfer": 6.8731565079360735e-06, + "track": 1.7603001651878003e-06, + "acceleration": 7.96061456753705e-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": 8.713714123587124e-06, + "observation_loss": 8.621400411357172e-06, + "chamfer": 6.863325324957259e-06, + "track": 1.7580753137735883e-06, + "acceleration": 9.23135132779862e-08, + "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": 8.818165952106938e-06, + "observation_loss": 8.61111948324833e-06, + "chamfer": 6.8524409471137915e-06, + "track": 1.7586780813871883e-06, + "acceleration": 2.0704614200894866e-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": 9.093275366467424e-06, + "observation_loss": 8.95826451596804e-06, + "chamfer": 7.087836365826661e-06, + "track": 1.870428491201892e-06, + "acceleration": 1.3501049522801623e-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": 9.654343557485845e-06, + "observation_loss": 9.56989242695272e-06, + "chamfer": 7.485906735382741e-06, + "track": 2.0839856915699784e-06, + "acceleration": 8.445138632851013e-08, + "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": 1.0305360774509609e-05, + "observation_loss": 1.0036701496574096e-05, + "chamfer": 7.799408194841817e-06, + "track": 2.2372937564796302e-06, + "acceleration": 2.6865936320064066e-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": 1.0016640771937091e-05, + "observation_loss": 9.872333976090886e-06, + "chamfer": 7.69397502153879e-06, + "track": 2.1783589545520954e-06, + "acceleration": 1.443065968942392e-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": 9.710126505524386e-06, + "observation_loss": 9.534125638310798e-06, + "chamfer": 7.484638445021119e-06, + "track": 2.0494867385423277e-06, + "acceleration": 1.7600127932837495e-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": 9.311724170402158e-06, + "observation_loss": 9.269197107641958e-06, + "chamfer": 7.312690740945982e-06, + "track": 1.9565061393223004e-06, + "acceleration": 4.252739316257248e-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": 9.069601219380274e-06, + "observation_loss": 9.019127901410684e-06, + "chamfer": 7.132115570129827e-06, + "track": 1.8870125586545328e-06, + "acceleration": 5.0473225599034777e-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": 9.025796316564083e-06, + "observation_loss": 8.967424037109595e-06, + "chamfer": 7.087609446898568e-06, + "track": 1.8798142491505132e-06, + "acceleration": 5.837245353745857e-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": 9.102336662181187e-06, + "observation_loss": 9.014081115310546e-06, + "chamfer": 7.112971616152208e-06, + "track": 1.9011097265320132e-06, + "acceleration": 8.825597319628287e-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": 9.137224878941197e-06, + "observation_loss": 9.03336604096694e-06, + "chamfer": 7.1230160756385885e-06, + "track": 1.9103499653283507e-06, + "acceleration": 1.0385905824250585e-07, + "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": 9.202347428072244e-06, + "observation_loss": 9.04358512343606e-06, + "chamfer": 7.108098088792758e-06, + "track": 1.9354870346433017e-06, + "acceleration": 1.5876267411840672e-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": 9.398218935530167e-06, + "observation_loss": 9.089670129469596e-06, + "chamfer": 7.139256467780797e-06, + "track": 1.95041411643615e-06, + "acceleration": 3.0854900501253724e-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": 9.857340955932159e-06, + "observation_loss": 9.176617822959088e-06, + "chamfer": 7.174771326390328e-06, + "track": 2.0018467239424353e-06, + "acceleration": 6.807234740335844e-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": 1.0227110578853171e-05, + "observation_loss": 9.291362403018866e-06, + "chamfer": 7.2530806392023806e-06, + "track": 2.038281763816485e-06, + "acceleration": 9.35748403207981e-07, + "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": 9.833180229179561e-06, + "observation_loss": 9.366052836412564e-06, + "chamfer": 7.303751772269607e-06, + "track": 2.0623015188903082e-06, + "acceleration": 4.671278475143481e-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": 9.729035809868947e-06, + "observation_loss": 9.57983957050601e-06, + "chamfer": 7.453689704561839e-06, + "track": 2.1261500933178468e-06, + "acceleration": 1.4919613988695346e-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": 9.921110176946968e-06, + "observation_loss": 9.82518213277217e-06, + "chamfer": 7.604227903357241e-06, + "track": 2.2209540020412533e-06, + "acceleration": 9.592834260274685e-08, + "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": 1.0221124284726102e-05, + "observation_loss": 1.0171385838475544e-05, + "chamfer": 7.824736712791491e-06, + "track": 2.346649353057728e-06, + "acceleration": 4.973870204594277e-08, + "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": 1.0314712199033238e-05, + "observation_loss": 1.0273697625962086e-05, + "chamfer": 7.882321369834244e-06, + "track": 2.391375801380491e-06, + "acceleration": 4.1014864393673633e-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": 1.0478910553501919e-05, + "observation_loss": 1.029053601087071e-05, + "chamfer": 7.879086297180038e-06, + "track": 2.4114499410643475e-06, + "acceleration": 1.8837449999864475e-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": 1.040055667544948e-05, + "observation_loss": 1.0288849807693623e-05, + "chamfer": 7.839264981157612e-06, + "track": 2.4495850539096864e-06, + "acceleration": 1.1170649116820641e-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": 1.0328646567359101e-05, + "observation_loss": 1.0252048014081083e-05, + "chamfer": 7.789953997416887e-06, + "track": 2.4620937892905204e-06, + "acceleration": 7.65988872331036e-08, + "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": 1.036623325489927e-05, + "observation_loss": 1.0118061254615895e-05, + "chamfer": 7.703678420512006e-06, + "track": 2.4143832888512406e-06, + "acceleration": 2.481720002833754e-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": 1.0515686881262809e-05, + "observation_loss": 9.912132554745767e-06, + "chamfer": 7.587534128106199e-06, + "track": 2.3245986540132435e-06, + "acceleration": 6.035546675775549e-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": 1.0195040886173956e-05, + "observation_loss": 9.82969686447177e-06, + "chamfer": 7.52534970160923e-06, + "track": 2.304347162862541e-06, + "acceleration": 3.6534427749757015e-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": 9.984031748899724e-06, + "observation_loss": 9.779098036233336e-06, + "chamfer": 7.492625627492089e-06, + "track": 2.286472863488598e-06, + "acceleration": 2.049333289733113e-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": 9.907226740324404e-06, + "observation_loss": 9.783756468095817e-06, + "chamfer": 7.500430001528002e-06, + "track": 2.283326239194139e-06, + "acceleration": 1.234705280239723e-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": 9.94538640952669e-06, + "observation_loss": 9.864937965176068e-06, + "chamfer": 7.561769507447025e-06, + "track": 2.303168685102719e-06, + "acceleration": 8.04485935645971e-08, + "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": 1.0011579433921725e-05, + "observation_loss": 9.972709449357353e-06, + "chamfer": 7.628580988239264e-06, + "track": 2.3441286884917645e-06, + "acceleration": 3.886977495426436e-08, + "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": 1.016412534227129e-05, + "observation_loss": 1.0053867299575359e-05, + "chamfer": 7.647512575204019e-06, + "track": 2.4063549517450156e-06, + "acceleration": 1.1025804269593209e-07, + "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": 1.0365701200498734e-05, + "observation_loss": 1.0190283319388982e-05, + "chamfer": 7.7070608313079e-06, + "track": 2.4832222607074073e-06, + "acceleration": 1.7541826480282907e-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": 1.0740001926023979e-05, + "observation_loss": 1.0534433386055753e-05, + "chamfer": 7.876554263930302e-06, + "track": 2.657879349499126e-06, + "acceleration": 2.0556898050472228e-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": 1.1139364687551279e-05, + "observation_loss": 1.0900690540438518e-05, + "chamfer": 8.060209438554011e-06, + "track": 2.840480874510831e-06, + "acceleration": 2.386739481607947e-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": 1.1471271136542782e-05, + "observation_loss": 1.126087227021344e-05, + "chamfer": 8.263496965810191e-06, + "track": 2.9973757591506e-06, + "acceleration": 2.103987384316497e-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": 1.155176323663909e-05, + "observation_loss": 1.1442879440437537e-05, + "chamfer": 8.350093594344798e-06, + "track": 3.092785846092738e-06, + "acceleration": 1.0888402357522864e-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": 1.1924043974431697e-05, + "observation_loss": 1.1678142982418649e-05, + "chamfer": 8.497230737702921e-06, + "track": 3.180912244715728e-06, + "acceleration": 2.4590104885646724e-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": 1.2252181477379054e-05, + "observation_loss": 1.2016287655569613e-05, + "chamfer": 8.700642865733244e-06, + "track": 3.315644562462694e-06, + "acceleration": 2.3589426234593702e-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": 1.2358186722849496e-05, + "observation_loss": 1.2267189049453009e-05, + "chamfer": 8.838711437419988e-06, + "track": 3.428477839406696e-06, + "acceleration": 9.099763786935e-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": 1.2454327588784508e-05, + "observation_loss": 1.2376171980577055e-05, + "chamfer": 8.891362995200325e-06, + "track": 3.484809212750406e-06, + "acceleration": 7.815604874394921e-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": 1.2517550203483552e-05, + "observation_loss": 1.2445379070413765e-05, + "chamfer": 8.93542164703831e-06, + "track": 3.5099576507491292e-06, + "acceleration": 7.21709270123938e-08, + "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": 1.252079164260067e-05, + "observation_loss": 1.245838575414382e-05, + "chamfer": 8.916175829654094e-06, + "track": 3.5422094697423745e-06, + "acceleration": 6.24063147824927e-08, + "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": 1.2529227205959614e-05, + "observation_loss": 1.2479381439334247e-05, + "chamfer": 8.904568858270068e-06, + "track": 3.574812353690504e-06, + "acceleration": 4.984602242075198e-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": 1.2592567145475186e-05, + "observation_loss": 1.2458122910175007e-05, + "chamfer": 8.898209671315271e-06, + "track": 3.55991301148606e-06, + "acceleration": 1.3444402213735884e-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": 1.2556455658341292e-05, + "observation_loss": 1.242314920091303e-05, + "chamfer": 8.878687367541716e-06, + "track": 3.5444620607449906e-06, + "acceleration": 1.3330625847629562e-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": 1.2416634490364231e-05, + "observation_loss": 1.2399532351992093e-05, + "chamfer": 8.851743587001693e-06, + "track": 3.5477887649904005e-06, + "acceleration": 1.7102181004702288e-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": 1.2419543054420501e-05, + "observation_loss": 1.2364199392322917e-05, + "chamfer": 8.817878551781178e-06, + "track": 3.5463210679154145e-06, + "acceleration": 5.5343335247926007e-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": 1.2464479368645698e-05, + "observation_loss": 1.2342354239081033e-05, + "chamfer": 8.796302608971018e-06, + "track": 3.5460514027363388e-06, + "acceleration": 1.2212555589030671e-07, + "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": 1.235584932146594e-05, + "observation_loss": 1.224017523782095e-05, + "chamfer": 8.73873068485409e-06, + "track": 3.501444552966859e-06, + "acceleration": 1.1567365021392106e-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": 1.2103003427910153e-05, + "observation_loss": 1.2065418559359387e-05, + "chamfer": 8.644522495160345e-06, + "track": 3.4208956094516907e-06, + "acceleration": 3.758443156698377e-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": 9.508329315603229e-06, + "chamfer_mean": 6.576613872747809e-06, + "track_mean": 1.9033517612380517e-06, + "acceleration_mean": 1.0283637764674225e-06, + "observation_score": 8.479965607932627e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4295530890012742 + }, + "score_arrays_file": "pass_scores/pass_end_0137.npz", + "score_arrays_sha256": "558af1bc258f27d88be9de619554f4ab1690077f45c9910586e14f4c0aecf209" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0138.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0138.json new file mode 100644 index 0000000000000000000000000000000000000000..96f64ee2ed59061d595db565a0089938b02b30ac --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0138.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13248, + "completed_passes": 138, + "snapshot": "pass_end_0138", + "candidate": true, + "snapshot_arrays_sha256": "565747783036dd75ac0dc608bdccad14836ae1aff31afa37ee85f75f20720130", + "score": 8.470090387883525e-06, + "score_result": { + "score": 8.470090387883525e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.95613654088811e-06, + 3.3134153909486486e-06, + 3.7118818454473512e-06, + 4.581313987728208e-06, + 5.4514848670805804e-06, + 5.86134319746634e-06, + 5.892617537028855e-06, + 5.760905423812801e-06, + 5.565349056269042e-06, + 5.525880169443553e-06, + 5.687888460670365e-06, + 5.8757036640599836e-06, + 6.121273145254236e-06, + 6.287711585173383e-06, + 6.397649485734291e-06, + 6.533449777634814e-06, + 6.393063358700601e-06, + 6.1097707657609135e-06, + 5.923548087594099e-06, + 5.889472959097475e-06, + 5.893108209420461e-06, + 5.7698593991517555e-06, + 5.5242112466658e-06, + 5.4090924095362425e-06, + 5.577284809987759e-06, + 5.929294275119901e-06, + 6.214258519321447e-06, + 6.35150036032428e-06, + 6.326146831270307e-06, + 6.211524578247918e-06, + 6.128182576503605e-06, + 6.202551958267577e-06, + 6.360397037497023e-06, + 6.632193617406301e-06, + 6.872982794448035e-06, + 7.204646863101516e-06, + 7.4931353992724326e-06, + 7.553408977400977e-06, + 7.476147402485367e-06, + 7.587815616716398e-06, + 7.941731382743455e-06, + 8.289229299407452e-06, + 8.420374797424302e-06, + 8.56378574098926e-06, + 8.60633826960111e-06, + 8.595879080530722e-06, + 8.587779120716732e-06, + 8.936538506532088e-06, + 9.549797141517047e-06, + 1.0018232387665194e-05, + 9.85502265393734e-06, + 9.51898891798919e-06, + 9.254241376766004e-06, + 9.006108484754805e-06, + 8.953888027463108e-06, + 8.999484634841792e-06, + 9.020436664286535e-06, + 9.031829904415645e-06, + 9.078167749976274e-06, + 9.165736628347076e-06, + 9.282339306082577e-06, + 9.360635885968804e-06, + 9.577423952578101e-06, + 9.82823985395953e-06, + 1.0181363904848695e-05, + 1.0286885299137793e-05, + 1.0305060641258024e-05, + 1.0305908290320076e-05, + 1.026995505526429e-05, + 1.0136643140867818e-05, + 9.930236046784557e-06, + 9.84851249086205e-06, + 9.795189725991804e-06, + 9.795858204597607e-06, + 9.876374861050863e-06, + 9.982486517401412e-06, + 1.0061718967335764e-05, + 1.019412502500927e-05, + 1.0536019544815645e-05, + 1.0900052075157873e-05, + 1.1260627616138663e-05, + 1.1442755749158096e-05, + 1.1676424037432298e-05, + 1.201462418976007e-05, + 1.2266535122762434e-05, + 1.23764511954505e-05, + 1.2446338587324135e-05, + 1.2458773198886774e-05, + 1.2479252291086596e-05, + 1.2457301636459306e-05, + 1.2424042324710172e-05, + 1.2400757441355381e-05, + 1.236507341673132e-05, + 1.2343439266260248e-05, + 1.224157585966168e-05, + 1.2068483556504361e-05 + ] + ], + "episode_mean_losses": [ + 8.470090387883525e-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": 2.95613654088811e-06, + "observation_loss": 2.95613654088811e-06, + "chamfer": 2.507209956092993e-06, + "track": 4.4892667006024567e-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": 4.43429198639933e-05, + "observation_loss": 3.3134153909486486e-06, + "chamfer": 2.802958533720812e-06, + "track": 5.104568572278367e-07, + "acceleration": 4.1029503336176276e-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": 2.687273627088871e-05, + "observation_loss": 3.7118818454473512e-06, + "chamfer": 3.1326746920967707e-06, + "track": 5.792071533505805e-07, + "acceleration": 2.316085374332033e-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": 1.2713215255644172e-05, + "observation_loss": 4.581313987728208e-06, + "chamfer": 3.818336608674144e-06, + "track": 7.629776064277394e-07, + "acceleration": 8.131901267915964e-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": 9.853835763351526e-06, + "observation_loss": 5.4514848670805804e-06, + "chamfer": 4.468874521990074e-06, + "track": 9.826102314036689e-07, + "acceleration": 4.402350896270946e-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": 7.52512914914405e-06, + "observation_loss": 5.86134319746634e-06, + "chamfer": 4.7462644943152554e-06, + "track": 1.1150787031510845e-06, + "acceleration": 1.6637861790513853e-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": 7.105314580257982e-06, + "observation_loss": 5.892617537028855e-06, + "chamfer": 4.742110377264908e-06, + "track": 1.1505070460771094e-06, + "acceleration": 1.212697156915965e-06, + "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": 6.3551806306350045e-06, + "observation_loss": 5.760905423812801e-06, + "chamfer": 4.635402092389995e-06, + "track": 1.1255033314228058e-06, + "acceleration": 5.942753205090412e-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": 6.539768946822733e-06, + "observation_loss": 5.565349056269042e-06, + "chamfer": 4.493306732911151e-06, + "track": 1.0720425507315667e-06, + "acceleration": 9.744200042405282e-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": 6.35672222415451e-06, + "observation_loss": 5.525880169443553e-06, + "chamfer": 4.485837507672841e-06, + "track": 1.0400425480838749e-06, + "acceleration": 8.30842168397794e-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": 6.086308530939277e-06, + "observation_loss": 5.687888460670365e-06, + "chamfer": 4.641863597498741e-06, + "track": 1.0460249768584617e-06, + "acceleration": 3.984200418472028e-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": 6.344901521515567e-06, + "observation_loss": 5.8757036640599836e-06, + "chamfer": 4.803939646080835e-06, + "track": 1.071763904292311e-06, + "acceleration": 4.691980564075493e-07, + "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": 6.679252237518085e-06, + "observation_loss": 6.121273145254236e-06, + "chamfer": 5.019266154704383e-06, + "track": 1.1020071042366908e-06, + "acceleration": 5.579789785770117e-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": 6.564428531419253e-06, + "observation_loss": 6.287711585173383e-06, + "chamfer": 5.164569756743731e-06, + "track": 1.1231420558033278e-06, + "acceleration": 2.767171167761262e-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": 6.682901585008949e-06, + "observation_loss": 6.397649485734291e-06, + "chamfer": 5.264011178951478e-06, + "track": 1.1336384204696515e-06, + "acceleration": 2.852522413832048e-07, + "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": 7.049103714962257e-06, + "observation_loss": 6.533449777634814e-06, + "chamfer": 5.379961294238456e-06, + "track": 1.1534884833963588e-06, + "acceleration": 5.156541078576993e-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": 6.634253168158466e-06, + "observation_loss": 6.393063358700601e-06, + "chamfer": 5.268355380394496e-06, + "track": 1.1247079783061054e-06, + "acceleration": 2.411896105058986e-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": 6.384281732607633e-06, + "observation_loss": 6.1097707657609135e-06, + "chamfer": 5.049144419899676e-06, + "track": 1.0606264595480752e-06, + "acceleration": 2.745110521118477e-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": 6.087246219976805e-06, + "observation_loss": 5.923548087594099e-06, + "chamfer": 4.908978553430643e-06, + "track": 1.0145695341634564e-06, + "acceleration": 1.6369799027415866e-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": 6.01421925239265e-06, + "observation_loss": 5.889472959097475e-06, + "chamfer": 4.884729150944622e-06, + "track": 1.004744035526528e-06, + "acceleration": 1.247462648734654e-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": 6.089460384828271e-06, + "observation_loss": 5.893108209420461e-06, + "chamfer": 4.88688783661928e-06, + "track": 1.0062202591143432e-06, + "acceleration": 1.9635197645584412e-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": 5.983724349789554e-06, + "observation_loss": 5.7698593991517555e-06, + "chamfer": 4.793409971171059e-06, + "track": 9.764494279806968e-07, + "acceleration": 2.1386476589668746e-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": 5.710327059205156e-06, + "observation_loss": 5.5242112466658e-06, + "chamfer": 4.601160071615595e-06, + "track": 9.23051004519948e-07, + "acceleration": 1.8611602570217656e-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": 5.53268091607606e-06, + "observation_loss": 5.4090924095362425e-06, + "chamfer": 4.501850980886957e-06, + "track": 9.072412012756104e-07, + "acceleration": 1.2358867707007448e-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": 5.710649929824285e-06, + "observation_loss": 5.577284809987759e-06, + "chamfer": 4.619188075594138e-06, + "track": 9.580968480804586e-07, + "acceleration": 1.33365119836526e-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": 6.239101821847726e-06, + "observation_loss": 5.929294275119901e-06, + "chamfer": 4.876495495409472e-06, + "track": 1.052798666023591e-06, + "acceleration": 3.098076604146627e-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": 6.557907454407541e-06, + "observation_loss": 6.214258519321447e-06, + "chamfer": 5.081810741103254e-06, + "track": 1.132447778218193e-06, + "acceleration": 3.43648878242675e-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": 6.589376880583586e-06, + "observation_loss": 6.35150036032428e-06, + "chamfer": 5.187245278648334e-06, + "track": 1.1642550816759467e-06, + "acceleration": 2.3787650604845112e-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": 6.821729584771674e-06, + "observation_loss": 6.326146831270307e-06, + "chamfer": 5.174990292289294e-06, + "track": 1.1511566526678507e-06, + "acceleration": 4.955828103447857e-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": 6.434346687456127e-06, + "observation_loss": 6.211524578247918e-06, + "chamfer": 5.090272225061199e-06, + "track": 1.1212522394998814e-06, + "acceleration": 2.2282192446709814e-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": 6.194769866851857e-06, + "observation_loss": 6.128182576503605e-06, + "chamfer": 5.0314065447309986e-06, + "track": 1.0967758043989306e-06, + "acceleration": 6.658736850795322e-08, + "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": 6.247877536225133e-06, + "observation_loss": 6.202551958267577e-06, + "chamfer": 5.092281298857415e-06, + "track": 1.1102707730969996e-06, + "acceleration": 4.532552466685047e-08, + "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": 6.424438197427662e-06, + "observation_loss": 6.360397037497023e-06, + "chamfer": 5.217963916948065e-06, + "track": 1.142433120548958e-06, + "acceleration": 6.404101071666446e-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": 6.745293831045274e-06, + "observation_loss": 6.632193617406301e-06, + "chamfer": 5.418779437604826e-06, + "track": 1.2134139524277998e-06, + "acceleration": 1.1310036995837436e-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": 6.963090527278837e-06, + "observation_loss": 6.872982794448035e-06, + "chamfer": 5.604236321232747e-06, + "track": 1.2687465869021253e-06, + "acceleration": 9.010771861994726e-08, + "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": 7.356489277299261e-06, + "observation_loss": 7.204646863101516e-06, + "chamfer": 5.851442892890191e-06, + "track": 1.3532039702113252e-06, + "acceleration": 1.5184244261945423e-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": 7.551447652076604e-06, + "observation_loss": 7.4931353992724326e-06, + "chamfer": 6.062475222279318e-06, + "track": 1.4306600633062772e-06, + "acceleration": 5.831209648476943e-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": 7.914828529465012e-06, + "observation_loss": 7.553408977400977e-06, + "chamfer": 6.117354587331647e-06, + "track": 1.4360546174430056e-06, + "acceleration": 3.614199215462577e-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": 7.615485628775787e-06, + "observation_loss": 7.476147402485367e-06, + "chamfer": 6.080003913666587e-06, + "track": 1.3961434888187796e-06, + "acceleration": 1.3933839682067628e-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": 7.775225640216377e-06, + "observation_loss": 7.587815616716398e-06, + "chamfer": 6.1701871345576365e-06, + "track": 1.4176284821587615e-06, + "acceleration": 1.874096540177561e-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": 8.194290785468183e-06, + "observation_loss": 7.941731382743455e-06, + "chamfer": 6.423280410672305e-06, + "track": 1.5184507446974749e-06, + "acceleration": 2.5255980062866e-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": 8.46445527713513e-06, + "observation_loss": 8.289229299407452e-06, + "chamfer": 6.665395630989224e-06, + "track": 1.6238332136708777e-06, + "acceleration": 1.752262761556267e-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": 8.516839443473145e-06, + "observation_loss": 8.420374797424302e-06, + "chamfer": 6.737587682437152e-06, + "track": 1.6827872286739876e-06, + "acceleration": 9.646488763337402e-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": 8.608819371147547e-06, + "observation_loss": 8.56378574098926e-06, + "chamfer": 6.830108304711757e-06, + "track": 1.73367709521699e-06, + "acceleration": 4.503372252884219e-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": 8.685074135428295e-06, + "observation_loss": 8.60633826960111e-06, + "chamfer": 6.85341501593939e-06, + "track": 1.7529234810353955e-06, + "acceleration": 7.873615004427847e-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": 8.688277375767939e-06, + "observation_loss": 8.595879080530722e-06, + "chamfer": 6.844789368187776e-06, + "track": 1.7510899397166213e-06, + "acceleration": 9.23986291923029e-08, + "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": 8.794922905508429e-06, + "observation_loss": 8.587779120716732e-06, + "chamfer": 6.835484327893937e-06, + "track": 1.7522949065096327e-06, + "acceleration": 2.071442395390477e-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": 9.071713066077791e-06, + "observation_loss": 8.936538506532088e-06, + "chamfer": 7.0721725933253765e-06, + "track": 1.8643662542672246e-06, + "acceleration": 1.3517427532860893e-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": 9.634116395318415e-06, + "observation_loss": 9.549797141517047e-06, + "chamfer": 7.471679509762907e-06, + "track": 2.078117404380464e-06, + "acceleration": 8.431885589743615e-08, + "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": 1.028686801873846e-05, + "observation_loss": 1.0018232387665194e-05, + "chamfer": 7.786549758748151e-06, + "track": 2.231682628917042e-06, + "acceleration": 2.6863560265155684e-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": 1.0000392649089918e-05, + "observation_loss": 9.85502265393734e-06, + "chamfer": 7.68173504184233e-06, + "track": 2.1732880668423604e-06, + "acceleration": 1.4536972514633817e-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": 9.696269444248173e-06, + "observation_loss": 9.51898891798919e-06, + "chamfer": 7.474061931134202e-06, + "track": 2.0449267594813136e-06, + "acceleration": 1.7728019940932427e-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": 9.297103133576456e-06, + "observation_loss": 9.254241376766004e-06, + "chamfer": 7.302006906684255e-06, + "track": 1.952234242708073e-06, + "acceleration": 4.286193799885041e-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": 9.056346243596636e-06, + "observation_loss": 9.006108484754805e-06, + "chamfer": 7.1231283982342575e-06, + "track": 1.8829803138942225e-06, + "acceleration": 5.023808569148969e-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": 9.01187195267994e-06, + "observation_loss": 8.953888027463108e-06, + "chamfer": 7.078251201164676e-06, + "track": 1.8756364852379193e-06, + "acceleration": 5.798364810516432e-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": 9.086918907996733e-06, + "observation_loss": 8.999484634841792e-06, + "chamfer": 7.102755262167193e-06, + "track": 1.8967290316140861e-06, + "acceleration": 8.743415946810273e-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": 9.12682298803702e-06, + "observation_loss": 9.020436664286535e-06, + "chamfer": 7.114048912626458e-06, + "track": 1.9063875242864015e-06, + "acceleration": 1.0638672875984412e-07, + "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": 9.192738616548013e-06, + "observation_loss": 9.031829904415645e-06, + "chamfer": 7.1001736614562105e-06, + "track": 1.9316560155857587e-06, + "acceleration": 1.6090855581296637e-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": 9.387679710926022e-06, + "observation_loss": 9.078167749976274e-06, + "chamfer": 7.131489383027656e-06, + "track": 1.946678139574942e-06, + "acceleration": 3.0951233043197135e-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": 9.849103662418202e-06, + "observation_loss": 9.165736628347076e-06, + "chamfer": 7.16752902008011e-06, + "track": 1.9982076082669664e-06, + "acceleration": 6.833668066974496e-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": 1.022414471663069e-05, + "observation_loss": 9.282339306082577e-06, + "chamfer": 7.247332632687176e-06, + "track": 2.0350069007690763e-06, + "acceleration": 9.418054105481133e-07, + "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": 9.832971954892855e-06, + "observation_loss": 9.360635885968804e-06, + "chamfer": 7.300638571905438e-06, + "track": 2.0599973140633665e-06, + "acceleration": 4.7233640998456394e-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": 9.729443263495341e-06, + "observation_loss": 9.577423952578101e-06, + "chamfer": 7.452467798430007e-06, + "track": 2.1249561541480944e-06, + "acceleration": 1.5201966618860752e-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": 9.926734492182732e-06, + "observation_loss": 9.82823985395953e-06, + "chamfer": 7.606784947711276e-06, + "track": 2.2214553609956056e-06, + "acceleration": 9.849448900922653e-08, + "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": 1.0231517080683261e-05, + "observation_loss": 1.0181363904848695e-05, + "chamfer": 7.832165465515573e-06, + "track": 2.3491979845857713e-06, + "acceleration": 5.0153118991147494e-08, + "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": 1.0328617463528644e-05, + "observation_loss": 1.0286885299137793e-05, + "chamfer": 7.891584573371802e-06, + "track": 2.395301180513343e-06, + "acceleration": 4.1732270972261176e-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": 1.0497272342036013e-05, + "observation_loss": 1.0305060641258024e-05, + "chamfer": 7.889461812737864e-06, + "track": 2.415599283267511e-06, + "acceleration": 1.9221154445858701e-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": 1.0420477337902412e-05, + "observation_loss": 1.0305908290320076e-05, + "chamfer": 7.851599548303057e-06, + "track": 2.454308969390695e-06, + "acceleration": 1.14569310483148e-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": 1.0347061106585898e-05, + "observation_loss": 1.026995505526429e-05, + "chamfer": 7.802652362443041e-06, + "track": 2.467302465447574e-06, + "acceleration": 7.710573868280335e-08, + "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": 1.0385886525909882e-05, + "observation_loss": 1.0136643140867818e-05, + "chamfer": 7.716798791079782e-06, + "track": 2.4198441224143608e-06, + "acceleration": 2.4924315766838845e-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": 1.0536301488173194e-05, + "observation_loss": 9.930236046784557e-06, + "chamfer": 7.600023309350945e-06, + "track": 2.330212510059937e-06, + "acceleration": 6.060658392925689e-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": 1.0216524970019236e-05, + "observation_loss": 9.84851249086205e-06, + "chamfer": 7.538315003330354e-06, + "track": 2.310197714905371e-06, + "acceleration": 3.680125360006059e-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": 9.998937457567081e-06, + "observation_loss": 9.795189725991804e-06, + "chamfer": 7.502914741053246e-06, + "track": 2.2922752123122336e-06, + "acceleration": 2.0374766052100313e-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": 9.918531759467442e-06, + "observation_loss": 9.795858204597607e-06, + "chamfer": 7.5078073678014334e-06, + "track": 2.288050382048823e-06, + "acceleration": 1.2267355486983433e-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": 9.958605005522259e-06, + "observation_loss": 9.876374861050863e-06, + "chamfer": 7.569077752123121e-06, + "track": 2.3072971089277416e-06, + "acceleration": 8.22302226310967e-08, + "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": 1.0022319656854961e-05, + "observation_loss": 9.982486517401412e-06, + "chamfer": 7.634830581082497e-06, + "track": 2.34765570894524e-06, + "acceleration": 3.9833505383057854e-08, + "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": 1.0176315299759153e-05, + "observation_loss": 1.0061718967335764e-05, + "chamfer": 7.652560270798858e-06, + "track": 2.409158696536906e-06, + "acceleration": 1.1459597004659372e-07, + "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": 1.0373407349106856e-05, + "observation_loss": 1.019412502500927e-05, + "chamfer": 7.709679266554303e-06, + "track": 2.484445531081292e-06, + "acceleration": 1.7928186935023405e-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": 1.0743302482296713e-05, + "observation_loss": 1.0536019544815645e-05, + "chamfer": 7.87789213063661e-06, + "track": 2.6581274141790345e-06, + "acceleration": 2.0728326433072652e-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": 1.1138906302221585e-05, + "observation_loss": 1.0900052075157873e-05, + "chamfer": 8.0599984357832e-06, + "track": 2.840053866748349e-06, + "acceleration": 2.388540849551646e-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": 1.1471792277006898e-05, + "observation_loss": 1.1260627616138663e-05, + "chamfer": 8.26349150884198e-06, + "track": 2.9971363346703583e-06, + "acceleration": 2.1116446191626892e-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": 1.155183508672053e-05, + "observation_loss": 1.1442755749158096e-05, + "chamfer": 8.350180905836169e-06, + "track": 3.092574843321927e-06, + "acceleration": 1.0907945835469945e-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": 1.1922412340936717e-05, + "observation_loss": 1.1676424037432298e-05, + "chamfer": 8.496407644997817e-06, + "track": 3.1800159376871306e-06, + "acceleration": 2.4598872983006004e-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": 1.2250152394699398e-05, + "observation_loss": 1.201462418976007e-05, + "chamfer": 8.700346370460466e-06, + "track": 3.3142775919259293e-06, + "acceleration": 2.355277928245414e-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": 1.2355836588540114e-05, + "observation_loss": 1.2266535122762434e-05, + "chamfer": 8.839173460728489e-06, + "track": 3.4273618894076208e-06, + "acceleration": 8.930125261485955e-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": 1.2454172974685207e-05, + "observation_loss": 1.23764511954505e-05, + "chamfer": 8.892372534319293e-06, + "track": 3.4840784337575315e-06, + "acceleration": 7.772141685791212e-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": 1.2517988579929806e-05, + "observation_loss": 1.2446338587324135e-05, + "chamfer": 8.937159691413399e-06, + "track": 3.509178895910736e-06, + "acceleration": 7.165021287391937e-08, + "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": 1.2521496500994544e-05, + "observation_loss": 1.2458773198886774e-05, + "chamfer": 8.917700142774265e-06, + "track": 3.5410732834861847e-06, + "acceleration": 6.272333052947943e-08, + "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": 1.2528330444183666e-05, + "observation_loss": 1.2479252291086596e-05, + "chamfer": 8.905782124202233e-06, + "track": 3.5734699395106873e-06, + "acceleration": 4.90782454676264e-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": 1.2591573067766149e-05, + "observation_loss": 1.2457301636459306e-05, + "chamfer": 8.898878149921075e-06, + "track": 3.5584234865382314e-06, + "acceleration": 1.34271417095988e-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": 1.2557751688291319e-05, + "observation_loss": 1.2424042324710172e-05, + "chamfer": 8.880416316969786e-06, + "track": 3.543626007740386e-06, + "acceleration": 1.337089372555056e-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": 1.2417918696883135e-05, + "observation_loss": 1.2400757441355381e-05, + "chamfer": 8.853685358189978e-06, + "track": 3.547072310539079e-06, + "acceleration": 1.7161330134740638e-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": 1.2420357052178588e-05, + "observation_loss": 1.236507341673132e-05, + "chamfer": 8.819486538413912e-06, + "track": 3.5455871056910837e-06, + "acceleration": 5.528397650778061e-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": 1.2466192856663838e-05, + "observation_loss": 1.2343439266260248e-05, + "chamfer": 8.79800154507393e-06, + "track": 3.545437493812642e-06, + "acceleration": 1.2275332039735076e-07, + "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": 1.2357964806142263e-05, + "observation_loss": 1.224157585966168e-05, + "chamfer": 8.74062880029669e-06, + "track": 3.500947286738665e-06, + "acceleration": 1.1638937280622486e-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": 1.2106000212952495e-05, + "observation_loss": 1.2068483556504361e-05, + "chamfer": 8.647448339615948e-06, + "track": 3.4210349895147374e-06, + "acceleration": 3.751677724039837e-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": 9.49745609564919e-06, + "chamfer_mean": 6.569360666712025e-06, + "track_mean": 1.9007297131778955e-06, + "acceleration_mean": 1.02736571516715e-06, + "observation_score": 8.470090387883525e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4348799569997936 + }, + "score_arrays_file": "pass_scores/pass_end_0138.npz", + "score_arrays_sha256": "be0031f02b6d520fb1db94d26028df404316e8702d74a605d1a7ede52c853636" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0139.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0139.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd298a9f1ad24349706dc7b551e1f4f4eb7a470 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0139.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13344, + "completed_passes": 139, + "snapshot": "pass_end_0139", + "candidate": true, + "snapshot_arrays_sha256": "2213e631b305919466044ccf4d6c7d4e0bdf830507baf057a29ee009221e1a14", + "score": 8.45897313202689e-06, + "score_result": { + "score": 8.45897313202689e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9556745175796095e-06, + 3.3105134207289666e-06, + 3.706313691509422e-06, + 4.56776660939795e-06, + 5.434759259514976e-06, + 5.842465725436341e-06, + 5.87049498790293e-06, + 5.741083441535011e-06, + 5.546694410440978e-06, + 5.509034053829964e-06, + 5.673749001289252e-06, + 5.861231784365373e-06, + 6.106808541517239e-06, + 6.27205326964031e-06, + 6.379411388479639e-06, + 6.5151853050338104e-06, + 6.3733368733664975e-06, + 6.090630449762102e-06, + 5.904503723286325e-06, + 5.8690393416327424e-06, + 5.871506800758652e-06, + 5.74746445636265e-06, + 5.502072326635243e-06, + 5.388087174651446e-06, + 5.553975370276021e-06, + 5.903149030928034e-06, + 6.188212864799425e-06, + 6.327562914520968e-06, + 6.3051420511328615e-06, + 6.192890396050643e-06, + 6.110565664130263e-06, + 6.184399808262242e-06, + 6.343546374409925e-06, + 6.614591256948188e-06, + 6.8551285039575305e-06, + 7.18507817509817e-06, + 7.473849109373987e-06, + 7.534503311035223e-06, + 7.454353635694133e-06, + 7.563053713965928e-06, + 7.915934475022368e-06, + 8.26388168206904e-06, + 8.395313670916948e-06, + 8.538360816601198e-06, + 8.581547263020184e-06, + 8.572043952881359e-06, + 8.56548376759747e-06, + 8.915872058423702e-06, + 9.531671821605414e-06, + 1.0001519513025414e-05, + 9.838669939199463e-06, + 9.503632099949755e-06, + 9.238447091775015e-06, + 8.992046787170693e-06, + 8.938542123360094e-06, + 8.98326743481448e-06, + 9.005130777950399e-06, + 9.017697266244795e-06, + 9.064488040166907e-06, + 9.152853635896463e-06, + 9.270948794437572e-06, + 9.352780580229592e-06, + 9.572981980454642e-06, + 9.829959708440583e-06, + 1.0189398381044157e-05, + 1.0298090273863636e-05, + 1.0318572094547562e-05, + 1.032195177685935e-05, + 1.0287447366863489e-05, + 1.0154313713428564e-05, + 9.946449608833063e-06, + 9.863485502137337e-06, + 9.807552487473004e-06, + 9.80366712610703e-06, + 9.883127859211527e-06, + 9.987770681618713e-06, + 1.0064716661872808e-05, + 1.019412957248278e-05, + 1.0532963642617688e-05, + 1.0894133083638735e-05, + 1.1254727724008262e-05, + 1.1438248293416109e-05, + 1.1670964340737555e-05, + 1.2008877092739567e-05, + 1.2261216397746466e-05, + 1.237185460922774e-05, + 1.2441628314263653e-05, + 1.2453632734832354e-05, + 1.2473676179070026e-05, + 1.2451641850930173e-05, + 1.2419012819009367e-05, + 1.2395872545312159e-05, + 1.2359621905488893e-05, + 1.2338157830527052e-05, + 1.223654908244498e-05, + 1.2065011105732992e-05 + ] + ], + "episode_mean_losses": [ + 8.45897313202689e-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": 2.9556745175796095e-06, + "observation_loss": 2.9556745175796095e-06, + "chamfer": 2.5068277409445727e-06, + "track": 4.488466629481991e-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": 4.426735176821239e-05, + "observation_loss": 3.3105134207289666e-06, + "chamfer": 2.800517222567578e-06, + "track": 5.099963118482265e-07, + "acceleration": 4.0956838347483426e-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": 2.68120456894394e-05, + "observation_loss": 3.706313691509422e-06, + "chamfer": 3.128162006760249e-06, + "track": 5.781515710623353e-07, + "acceleration": 2.3105731088435277e-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": 1.2677886843448505e-05, + "observation_loss": 4.56776660939795e-06, + "chamfer": 3.8080604554124875e-06, + "track": 7.597060971420433e-07, + "acceleration": 8.110120688797906e-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": 9.838906407821923e-06, + "observation_loss": 5.434759259514976e-06, + "chamfer": 4.4571766011358704e-06, + "track": 9.775825446922681e-07, + "acceleration": 4.404146693559596e-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": 7.503423148591537e-06, + "observation_loss": 5.842465725436341e-06, + "chamfer": 4.733950845547952e-06, + "track": 1.1085146525147138e-06, + "acceleration": 1.6609575368420337e-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": 7.0716077971155755e-06, + "observation_loss": 5.87049498790293e-06, + "chamfer": 4.727417490357766e-06, + "track": 1.143077497545164e-06, + "acceleration": 1.201113036586321e-06, + "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": 6.33726449450478e-06, + "observation_loss": 5.741083441535011e-06, + "chamfer": 4.622389496944379e-06, + "track": 1.1186937172169564e-06, + "acceleration": 5.961809392829309e-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": 6.523818228743039e-06, + "observation_loss": 5.546694410440978e-06, + "chamfer": 4.481005362322321e-06, + "track": 1.065689275492332e-06, + "acceleration": 9.771239319888991e-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": 6.334747922664974e-06, + "observation_loss": 5.509034053829964e-06, + "chamfer": 4.474649813346332e-06, + "track": 1.0343840131099569e-06, + "acceleration": 8.257136414613342e-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": 6.070724793971749e-06, + "observation_loss": 5.673749001289252e-06, + "chamfer": 4.63249079984962e-06, + "track": 1.0412584288133075e-06, + "acceleration": 3.969757642607874e-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": 6.33803938399069e-06, + "observation_loss": 5.861231784365373e-06, + "chamfer": 4.793989774043439e-06, + "track": 1.0672421240087715e-06, + "acceleration": 4.768075996253174e-07, + "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": 6.6509210228105076e-06, + "observation_loss": 6.106808541517239e-06, + "chamfer": 5.00918440593523e-06, + "track": 1.0976243629556848e-06, + "acceleration": 5.441123676064308e-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": 6.537180979648838e-06, + "observation_loss": 6.27205326964031e-06, + "chamfer": 5.153341135155642e-06, + "track": 1.1187120207978296e-06, + "acceleration": 2.6512756789998093e-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": 6.692995611956576e-06, + "observation_loss": 6.379411388479639e-06, + "chamfer": 5.250591584626818e-06, + "track": 1.1288199175396585e-06, + "acceleration": 3.135843655854842e-07, + "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": 7.041229764581658e-06, + "observation_loss": 6.5151853050338104e-06, + "chamfer": 5.366525783756515e-06, + "track": 1.1486597486509709e-06, + "acceleration": 5.26044686921523e-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": 6.6097104536311235e-06, + "observation_loss": 6.3733368733664975e-06, + "chamfer": 5.25349605595693e-06, + "track": 1.1198407037227298e-06, + "acceleration": 2.363736086863355e-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": 6.369907623593463e-06, + "observation_loss": 6.090630449762102e-06, + "chamfer": 5.034447895013727e-06, + "track": 1.056182554748375e-06, + "acceleration": 2.792770601445227e-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": 6.069874871172942e-06, + "observation_loss": 5.904503723286325e-06, + "chamfer": 4.8940605665848125e-06, + "track": 1.0104431567015126e-06, + "acceleration": 1.653711336757624e-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": 5.994331786496332e-06, + "observation_loss": 5.8690393416327424e-06, + "chamfer": 4.868617452302715e-06, + "track": 1.0004218893300276e-06, + "acceleration": 1.2529238802017062e-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": 6.069650225981604e-06, + "observation_loss": 5.871506800758652e-06, + "chamfer": 4.86997942061862e-06, + "track": 1.0015271527663572e-06, + "acceleration": 1.9814342522295192e-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": 5.963810963294236e-06, + "observation_loss": 5.74746445636265e-06, + "chamfer": 4.775797151523875e-06, + "track": 9.71667191151937e-07, + "acceleration": 2.1634667746184277e-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": 5.687953944288893e-06, + "observation_loss": 5.502072326635243e-06, + "chamfer": 4.583396275847917e-06, + "track": 9.186762213175825e-07, + "acceleration": 1.858817171296323e-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": 5.51191988051869e-06, + "observation_loss": 5.388087174651446e-06, + "chamfer": 4.484894816414453e-06, + "track": 9.031924150804116e-07, + "acceleration": 1.2383266323467979e-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": 5.687473276339006e-06, + "observation_loss": 5.553975370276021e-06, + "chamfer": 4.600605734594865e-06, + "track": 9.533696356811561e-07, + "acceleration": 1.334979629064037e-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": 6.2146700656739995e-06, + "observation_loss": 5.903149030928034e-06, + "chamfer": 4.856038685829844e-06, + "track": 1.0471104587850277e-06, + "acceleration": 3.1152103474596515e-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": 6.534971817018231e-06, + "observation_loss": 6.188212864799425e-06, + "chamfer": 5.0615190048119985e-06, + "track": 1.1266936326137511e-06, + "acceleration": 3.4675892379709694e-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": 6.567205673491117e-06, + "observation_loss": 6.327562914520968e-06, + "chamfer": 5.168482402950758e-06, + "track": 1.1590805115702096e-06, + "acceleration": 2.396427873918583e-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": 6.8011850089533255e-06, + "observation_loss": 6.3051420511328615e-06, + "chamfer": 5.158506155567011e-06, + "track": 1.1466358955658507e-06, + "acceleration": 4.960431283507205e-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": 6.412423772417242e-06, + "observation_loss": 6.192890396050643e-06, + "chamfer": 5.075502940599108e-06, + "track": 1.1173872280778596e-06, + "acceleration": 2.1953346163172682e-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": 6.17579098616261e-06, + "observation_loss": 6.110565664130263e-06, + "chamfer": 5.01747445014189e-06, + "track": 1.0930914413620485e-06, + "acceleration": 6.522527939978318e-08, + "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": 6.2309313761943486e-06, + "observation_loss": 6.184399808262242e-06, + "chamfer": 5.077743026049575e-06, + "track": 1.1066568958995049e-06, + "acceleration": 4.653173846236314e-08, + "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": 6.409251454897458e-06, + "observation_loss": 6.343546374409925e-06, + "chamfer": 5.2043446885363664e-06, + "track": 1.1392016858735587e-06, + "acceleration": 6.570508048753254e-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": 6.728640983055811e-06, + "observation_loss": 6.614591256948188e-06, + "chamfer": 5.4045463002694305e-06, + "track": 1.2100450703655952e-06, + "acceleration": 1.1404971189676871e-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": 6.945726909179939e-06, + "observation_loss": 6.8551285039575305e-06, + "chamfer": 5.590090950136073e-06, + "track": 1.2650376675082953e-06, + "acceleration": 9.05982844301434e-08, + "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": 7.336405815294711e-06, + "observation_loss": 7.18507817509817e-06, + "chamfer": 5.83610426474479e-06, + "track": 1.3489739103533793e-06, + "acceleration": 1.5132746966628474e-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": 7.53242420614697e-06, + "observation_loss": 7.473849109373987e-06, + "chamfer": 6.047667284292402e-06, + "track": 1.4261820524552604e-06, + "acceleration": 5.857510387841103e-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": 7.89592922956217e-06, + "observation_loss": 7.534503311035223e-06, + "chamfer": 6.10296137892874e-06, + "track": 1.4315419321064837e-06, + "acceleration": 3.6142577641840035e-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": 7.595815077365842e-06, + "observation_loss": 7.454353635694133e-06, + "chamfer": 6.063332421035739e-06, + "track": 1.3910212146583945e-06, + "acceleration": 1.4146131377401616e-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": 7.751785233267583e-06, + "observation_loss": 7.563053713965928e-06, + "chamfer": 6.151371053420007e-06, + "track": 1.411682660545921e-06, + "acceleration": 1.8873110718686803e-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": 8.169718967110384e-06, + "observation_loss": 7.915934475022368e-06, + "chamfer": 6.404026862583123e-06, + "track": 1.5119078398129204e-06, + "acceleration": 2.537848331485293e-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": 8.440209967375267e-06, + "observation_loss": 8.26388168206904e-06, + "chamfer": 6.646683232247597e-06, + "track": 1.6171989045687951e-06, + "acceleration": 1.763279442457133e-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": 8.491718290315475e-06, + "observation_loss": 8.395313670916948e-06, + "chamfer": 6.719260454701725e-06, + "track": 1.676053216215223e-06, + "acceleration": 9.640448439540705e-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": 8.583138878748287e-06, + "observation_loss": 8.538360816601198e-06, + "chamfer": 6.8116028160147835e-06, + "track": 1.7267581142732524e-06, + "acceleration": 4.477770332300679e-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": 8.660318599140737e-06, + "observation_loss": 8.581547263020184e-06, + "chamfer": 6.835304247942986e-06, + "track": 1.7462432424508734e-06, + "acceleration": 7.877165586478441e-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": 8.664871529617812e-06, + "observation_loss": 8.572043952881359e-06, + "chamfer": 6.827404831710737e-06, + "track": 1.7446395759179723e-06, + "acceleration": 9.28274133116247e-08, + "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": 8.77333695825655e-06, + "observation_loss": 8.56548376759747e-06, + "chamfer": 6.819222562626237e-06, + "track": 1.7462610912843957e-06, + "acceleration": 2.0785293486369483e-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": 9.051314918906428e-06, + "observation_loss": 8.915872058423702e-06, + "chamfer": 7.057115908537526e-06, + "track": 1.8587564909466892e-06, + "acceleration": 1.354426188981961e-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": 9.616032912163064e-06, + "observation_loss": 9.531671821605414e-06, + "chamfer": 7.4587460403563455e-06, + "track": 2.0729262359964196e-06, + "acceleration": 8.436143872359025e-08, + "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": 1.0270418897562195e-05, + "observation_loss": 1.0001519513025414e-05, + "chamfer": 7.774731784593314e-06, + "track": 2.226787501058425e-06, + "acceleration": 2.688993845367804e-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": 9.985415090341121e-06, + "observation_loss": 9.838669939199463e-06, + "chamfer": 7.66999255574774e-06, + "track": 2.1686769287043717e-06, + "acceleration": 1.467449379788377e-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": 9.682225027063396e-06, + "observation_loss": 9.503632099949755e-06, + "chamfer": 7.463079327862943e-06, + "track": 2.0405523173394613e-06, + "acceleration": 1.7859304080047878e-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": 9.281321581511293e-06, + "observation_loss": 9.238447091775015e-06, + "chamfer": 7.2905463639472146e-06, + "track": 1.9479007278278004e-06, + "acceleration": 4.2874916061919066e-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": 9.041503290063702e-06, + "observation_loss": 8.992046787170693e-06, + "chamfer": 7.113333595043514e-06, + "track": 1.8787135331876925e-06, + "acceleration": 4.945606235651212e-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": 8.99570750334533e-06, + "observation_loss": 8.938542123360094e-06, + "chamfer": 7.0675064307579305e-06, + "track": 1.8710359199758386e-06, + "acceleration": 5.716533379995781e-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": 9.064893674803898e-06, + "observation_loss": 8.98326743481448e-06, + "chamfer": 7.091267434589099e-06, + "track": 1.8919998865385423e-06, + "acceleration": 8.162606945916195e-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": 9.093372682400513e-06, + "observation_loss": 9.005130777950399e-06, + "chamfer": 7.103347797965398e-06, + "track": 1.9017833210455137e-06, + "acceleration": 8.824199682067047e-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": 9.176747880701441e-06, + "observation_loss": 9.017697266244795e-06, + "chamfer": 7.0905498432694e-06, + "track": 1.9271476503490703e-06, + "acceleration": 1.5905087025203102e-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": 9.377145033795387e-06, + "observation_loss": 9.064488040166907e-06, + "chamfer": 7.1221270445676055e-06, + "track": 1.9423609955993015e-06, + "acceleration": 3.126573346889927e-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": 9.841307473834604e-06, + "observation_loss": 9.152853635896463e-06, + "chamfer": 7.1588438004255295e-06, + "track": 1.9940098354709335e-06, + "acceleration": 6.884537810947222e-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": 1.0218729585176334e-05, + "observation_loss": 9.270948794437572e-06, + "chamfer": 7.239867954922374e-06, + "track": 2.0310806121415226e-06, + "acceleration": 9.477808475821803e-07, + "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": 9.829243026615586e-06, + "observation_loss": 9.352780580229592e-06, + "chamfer": 7.2958578130055685e-06, + "track": 2.0569229945976986e-06, + "acceleration": 4.764627590247983e-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": 9.727198630571365e-06, + "observation_loss": 9.572981980454642e-06, + "chamfer": 7.449737495335285e-06, + "track": 2.123244712493033e-06, + "acceleration": 1.5421657906244945e-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": 9.930207852448802e-06, + "observation_loss": 9.829959708440583e-06, + "chamfer": 7.608275609527482e-06, + "track": 2.2216840989131015e-06, + "acceleration": 1.002482008516381e-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": 1.0239261428068858e-05, + "observation_loss": 1.0189398381044157e-05, + "chamfer": 7.838057172193658e-06, + "track": 2.35134166359785e-06, + "acceleration": 4.9862919127008354e-08, + "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": 1.0340174412704073e-05, + "observation_loss": 1.0298090273863636e-05, + "chamfer": 7.899364391050767e-06, + "track": 2.3987263375602197e-06, + "acceleration": 4.208435555597134e-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": 1.0514024324947968e-05, + "observation_loss": 1.0318572094547562e-05, + "chamfer": 7.898972398834303e-06, + "track": 2.419599468339584e-06, + "acceleration": 1.954520172375851e-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": 1.0438526260259096e-05, + "observation_loss": 1.032195177685935e-05, + "chamfer": 7.86315376899438e-06, + "track": 2.4587977804912953e-06, + "acceleration": 1.1657405707410362e-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": 1.0365160051151179e-05, + "observation_loss": 1.0287447366863489e-05, + "chamfer": 7.815003300493117e-06, + "track": 2.4724445211177226e-06, + "acceleration": 7.771296850478393e-08, + "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": 1.0404114618722815e-05, + "observation_loss": 1.0154313713428564e-05, + "chamfer": 7.729302524239756e-06, + "track": 2.425011189188808e-06, + "acceleration": 2.498011042462167e-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": 1.0555562766967341e-05, + "observation_loss": 9.946449608833063e-06, + "chamfer": 7.611345154145965e-06, + "track": 2.3351046820607735e-06, + "acceleration": 6.091136128816288e-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": 1.0235366971755866e-05, + "observation_loss": 9.863485502137337e-06, + "chamfer": 7.548720532213338e-06, + "track": 2.314764969923999e-06, + "acceleration": 3.7188144119681965e-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": 1.0010121513914783e-05, + "observation_loss": 9.807552487473004e-06, + "chamfer": 7.510836894653039e-06, + "track": 2.2967155928199645e-06, + "acceleration": 2.0256939592400158e-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": 9.927929568220861e-06, + "observation_loss": 9.80366712610703e-06, + "chamfer": 7.5121611189388204e-06, + "track": 2.291506007168209e-06, + "acceleration": 1.242621152641732e-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": 9.967673577193636e-06, + "observation_loss": 9.883127859211527e-06, + "chamfer": 7.573122729809256e-06, + "track": 2.3100046746549197e-06, + "acceleration": 8.45458743015115e-08, + "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": 1.0028446013166104e-05, + "observation_loss": 9.987770681618713e-06, + "chamfer": 7.637991075171158e-06, + "track": 2.3497798338212306e-06, + "acceleration": 4.067573655675005e-08, + "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": 1.0182830010307953e-05, + "observation_loss": 1.0064716661872808e-05, + "chamfer": 7.654263754375279e-06, + "track": 2.4104526801238535e-06, + "acceleration": 1.1811345501655524e-07, + "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": 1.037762649502838e-05, + "observation_loss": 1.019412957248278e-05, + "chamfer": 7.709704732405953e-06, + "track": 2.484425067450502e-06, + "acceleration": 1.834967520153441e-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": 1.0742194717749953e-05, + "observation_loss": 1.0532963642617688e-05, + "chamfer": 7.876085874158889e-06, + "track": 2.6568777684587985e-06, + "acceleration": 2.0923069143918838e-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": 1.11320396172232e-05, + "observation_loss": 1.0894133083638735e-05, + "chamfer": 8.05637682788074e-06, + "track": 2.837756255757995e-06, + "acceleration": 2.3790632042164361e-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": 1.1465116585895885e-05, + "observation_loss": 1.1254727724008262e-05, + "chamfer": 8.259939022536855e-06, + "track": 2.9947884740977315e-06, + "acceleration": 2.1038894715275092e-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": 1.1548845577635802e-05, + "observation_loss": 1.1438248293416109e-05, + "chamfer": 8.34729871712625e-06, + "track": 3.0909495762898587e-06, + "acceleration": 1.105970994785821e-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": 1.1914089554920793e-05, + "observation_loss": 1.1670964340737555e-05, + "chamfer": 8.493122550135013e-06, + "track": 3.1778417906025425e-06, + "acceleration": 2.4312478785759595e-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": 1.224323841597652e-05, + "observation_loss": 1.2008877092739567e-05, + "chamfer": 8.697369594301563e-06, + "track": 3.3115074984380044e-06, + "acceleration": 2.3436167850832135e-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": 1.2349198186711874e-05, + "observation_loss": 1.2261216397746466e-05, + "chamfer": 8.836718734528404e-06, + "track": 3.4244981179654133e-06, + "acceleration": 8.798164685686061e-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": 1.2448843335732818e-05, + "observation_loss": 1.237185460922774e-05, + "chamfer": 8.890307981346268e-06, + "track": 3.4815464005077956e-06, + "acceleration": 7.698833570657371e-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": 1.2512458852143027e-05, + "observation_loss": 1.2441628314263653e-05, + "chamfer": 8.93534433998866e-06, + "track": 3.5062842016486684e-06, + "acceleration": 7.083022524057014e-08, + "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": 1.2516300557763316e-05, + "observation_loss": 1.2453632734832354e-05, + "chamfer": 8.915811122278683e-06, + "track": 3.537821612553671e-06, + "acceleration": 6.26679153015175e-08, + "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": 1.2522355063993018e-05, + "observation_loss": 1.2473676179070026e-05, + "chamfer": 8.903638445190154e-06, + "track": 3.5700381886272226e-06, + "acceleration": 4.8679250852501355e-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": 1.2585856893565506e-05, + "observation_loss": 1.2451641850930173e-05, + "chamfer": 8.896519830159377e-06, + "track": 3.5551220207707956e-06, + "acceleration": 1.3421531264157238e-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": 1.2553849956020713e-05, + "observation_loss": 1.2419012819009367e-05, + "chamfer": 8.878502740117256e-06, + "track": 3.5405103062657872e-06, + "acceleration": 1.348367959508323e-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": 1.2414077900757547e-05, + "observation_loss": 1.2395872545312159e-05, + "chamfer": 8.851835445966572e-06, + "track": 3.5440368719719118e-06, + "acceleration": 1.820545669772855e-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": 1.2415745004545897e-05, + "observation_loss": 1.2359621905488893e-05, + "chamfer": 8.817230082058813e-06, + "track": 3.54239182343008e-06, + "acceleration": 5.61227899709138e-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": 1.2461321603041142e-05, + "observation_loss": 1.2338157830527052e-05, + "chamfer": 8.795770554570481e-06, + "track": 3.5423868212092202e-06, + "acceleration": 1.2316390041178238e-07, + "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": 1.2352941666904371e-05, + "observation_loss": 1.223654908244498e-05, + "chamfer": 8.738534233998507e-06, + "track": 3.4980148484464735e-06, + "acceleration": 1.1639258445939049e-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": 1.210209393320838e-05, + "observation_loss": 1.2065011105732992e-05, + "chamfer": 8.646381502330769e-06, + "track": 3.418629376028548e-06, + "acceleration": 3.7083239590174344e-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": 9.485261382261948e-06, + "chamfer_mean": 6.561296665097416e-06, + "track_mean": 1.8976765030487286e-06, + "acceleration_mean": 1.0262882397804596e-06, + "observation_score": 8.45897313202689e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4164747339982569 + }, + "score_arrays_file": "pass_scores/pass_end_0139.npz", + "score_arrays_sha256": "ed44abf69e99530976463b8a66a0fe8994e24871371e4592240cf78023c8ba93" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0140.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0140.json new file mode 100644 index 0000000000000000000000000000000000000000..5de8865413af34ea8ddf054ad8f5ae6f5ad77e1b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0140.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13440, + "completed_passes": 140, + "snapshot": "pass_end_0140", + "candidate": true, + "snapshot_arrays_sha256": "dd17d2f4b72a5a76d8b9df6f6416c626c4b98786edad6d4110fe1b3172a23d93", + "score": 8.447598143372185e-06, + "score_result": { + "score": 8.447598143372185e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9551872557931347e-06, + 3.3076955787691986e-06, + 3.7008353501732927e-06, + 4.554203769657761e-06, + 5.417983174993424e-06, + 5.823900664836401e-06, + 5.848657565366011e-06, + 5.721794877899811e-06, + 5.528878318727948e-06, + 5.492841410159599e-06, + 5.660085207637167e-06, + 5.847703960171202e-06, + 6.092998319218168e-06, + 6.2571903072239365e-06, + 6.361038686009124e-06, + 6.4974256019922905e-06, + 6.353953722282313e-06, + 6.071757525205612e-06, + 5.885697646590415e-06, + 5.848879482073244e-06, + 5.849877197761089e-06, + 5.725065420847386e-06, + 5.479822902998421e-06, + 5.367254743759986e-06, + 5.530919679586077e-06, + 5.877401690668194e-06, + 6.162975296319928e-06, + 6.304264388745651e-06, + 6.2851795519236475e-06, + 6.175459020596463e-06, + 6.0941101764910854e-06, + 6.166921593830921e-06, + 6.326660695776809e-06, + 6.5971339608950075e-06, + 6.837393357272958e-06, + 7.165703209466301e-06, + 7.454068054357776e-06, + 7.5142716013942845e-06, + 7.431030553561868e-06, + 7.536089469795115e-06, + 7.887514584581368e-06, + 8.23652317194501e-06, + 8.368719136342406e-06, + 8.511069609085098e-06, + 8.55498819873901e-06, + 8.546524441044312e-06, + 8.541464012523647e-06, + 8.894128768588416e-06, + 9.512882570561487e-06, + 9.984253665606957e-06, + 9.821327694226056e-06, + 9.486956514592748e-06, + 9.221326763508841e-06, + 8.976159733720124e-06, + 8.921318112697918e-06, + 8.964747394202277e-06, + 8.987827641249169e-06, + 9.002086699183565e-06, + 9.049285836226773e-06, + 9.138797395280562e-06, + 9.258448699256405e-06, + 9.344286809209734e-06, + 9.567608685756568e-06, + 9.830665476329159e-06, + 1.01962432381697e-05, + 1.0308329365216196e-05, + 1.0331635166949127e-05, + 1.0337867024645675e-05, + 1.0305554496881086e-05, + 1.0172971087740734e-05, + 9.963605407392606e-06, + 9.879834578896407e-06, + 9.820802006288432e-06, + 9.811473319132347e-06, + 9.889414286590181e-06, + 9.992199920816347e-06, + 1.0066719369206112e-05, + 1.019406317936955e-05, + 1.0530067811487243e-05, + 1.088942644855706e-05, + 1.1250329407630488e-05, + 1.143310328188818e-05, + 1.1664817066048272e-05, + 1.200300994241843e-05, + 1.2255590263521299e-05, + 1.2366675946395844e-05, + 1.243712267751107e-05, + 1.2448527741071302e-05, + 1.2468261957110371e-05, + 1.2446025721146725e-05, + 1.2413798685884103e-05, + 1.2390813935780898e-05, + 1.2354590580798686e-05, + 1.2333310223766603e-05, + 1.2232068911544047e-05, + 1.2061946108588018e-05 + ] + ], + "episode_mean_losses": [ + 8.447598143372185e-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": 2.9551872557931347e-06, + "observation_loss": 2.9551872557931347e-06, + "chamfer": 2.50642369792331e-06, + "track": 4.4876352944811515e-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": 4.419250399223529e-05, + "observation_loss": 3.3076955787691986e-06, + "chamfer": 2.798145260385354e-06, + "track": 5.095503752272634e-07, + "acceleration": 4.088481000508182e-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": 2.6754336431622505e-05, + "observation_loss": 3.7008353501732927e-06, + "chamfer": 3.1237270832207287e-06, + "track": 5.771082101091451e-07, + "acceleration": 2.305350062670186e-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": 1.2647183211811353e-05, + "observation_loss": 4.554203769657761e-06, + "chamfer": 3.797750196099514e-06, + "track": 7.564533461845713e-07, + "acceleration": 8.092979442153592e-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": 9.824273547565099e-06, + "observation_loss": 5.417983174993424e-06, + "chamfer": 4.445370905159507e-06, + "track": 9.726123835207545e-07, + "acceleration": 4.406290372571675e-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": 7.4818126449827105e-06, + "observation_loss": 5.823900664836401e-06, + "chamfer": 4.72187912237132e-06, + "track": 1.1020216561519192e-06, + "acceleration": 1.6579122075199848e-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": 7.0380033321271185e-06, + "observation_loss": 5.848657565366011e-06, + "chamfer": 4.712955160357524e-06, + "track": 1.1357025186953251e-06, + "acceleration": 1.1893456530742696e-06, + "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": 6.319521617115242e-06, + "observation_loss": 5.721794877899811e-06, + "chamfer": 4.609790266840719e-06, + "track": 1.112004611059092e-06, + "acceleration": 5.977267960588506e-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": 6.507321813842282e-06, + "observation_loss": 5.528878318727948e-06, + "chamfer": 4.4693247218674514e-06, + "track": 1.0595535968604963e-06, + "acceleration": 9.784436088011716e-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": 6.311989181995159e-06, + "observation_loss": 5.492841410159599e-06, + "chamfer": 4.463951427169377e-06, + "track": 1.0288898693033843e-06, + "acceleration": 8.191477149921411e-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": 6.0561837926798034e-06, + "observation_loss": 5.660085207637167e-06, + "chamfer": 4.623452696250752e-06, + "track": 1.0366326250732527e-06, + "acceleration": 3.9609869872947456e-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": 6.33287345408462e-06, + "observation_loss": 5.847703960171202e-06, + "chamfer": 4.7847393034317065e-06, + "track": 1.0629646567394957e-06, + "acceleration": 4.8516938022658e-07, + "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": 6.621500233450206e-06, + "observation_loss": 6.092998319218168e-06, + "chamfer": 4.9995405788649805e-06, + "track": 1.0934577403531875e-06, + "acceleration": 5.285020847622945e-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": 6.513124390039593e-06, + "observation_loss": 6.2571903072239365e-06, + "chamfer": 5.142693680681987e-06, + "track": 1.1144966265419498e-06, + "acceleration": 2.5593391228539986e-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": 6.7096543716616e-06, + "observation_loss": 6.361038686009124e-06, + "chamfer": 5.23700327903498e-06, + "track": 1.124035520660982e-06, + "acceleration": 3.486158846044418e-07, + "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": 7.035990620352095e-06, + "observation_loss": 6.4974256019922905e-06, + "chamfer": 5.35339086127351e-06, + "track": 1.14403474071878e-06, + "acceleration": 5.385648478295479e-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": 6.585068604181288e-06, + "observation_loss": 6.353953722282313e-06, + "chamfer": 5.238836820353754e-06, + "track": 1.115116901928559e-06, + "acceleration": 2.31114881898975e-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": 6.3574152591172606e-06, + "observation_loss": 6.071757525205612e-06, + "chamfer": 5.019901891500922e-06, + "track": 1.051855747391528e-06, + "acceleration": 2.8565750653797295e-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": 6.053615379641997e-06, + "observation_loss": 5.885697646590415e-06, + "chamfer": 4.879270818491932e-06, + "track": 1.0064267144116457e-06, + "acceleration": 1.6791793200354732e-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": 5.975056865281658e-06, + "observation_loss": 5.848879482073244e-06, + "chamfer": 4.8526858336117584e-06, + "track": 9.961935347746476e-07, + "acceleration": 1.2617759637123527e-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": 6.049089734005975e-06, + "observation_loss": 5.849877197761089e-06, + "chamfer": 4.852997335547116e-06, + "track": 9.96879862213973e-07, + "acceleration": 1.9921252203403128e-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": 5.943373253103346e-06, + "observation_loss": 5.725065420847386e-06, + "chamfer": 4.7581397666363046e-06, + "track": 9.669255405242438e-07, + "acceleration": 2.1830786067766894e-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": 5.665159733325709e-06, + "observation_loss": 5.479822902998421e-06, + "chamfer": 4.565486506180605e-06, + "track": 9.143364536612353e-07, + "acceleration": 1.8533665979703073e-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": 5.492188847711077e-06, + "observation_loss": 5.367254743759986e-06, + "chamfer": 4.468055522011127e-06, + "track": 8.991989943751832e-07, + "acceleration": 1.2493418921621924e-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": 5.664805939886719e-06, + "observation_loss": 5.530919679586077e-06, + "chamfer": 4.582171186484629e-06, + "track": 9.487486067882855e-07, + "acceleration": 1.3388633135491546e-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": 6.189786745380843e-06, + "observation_loss": 5.877401690668194e-06, + "chamfer": 4.8358310777985025e-06, + "track": 1.0415707265565288e-06, + "acceleration": 3.1238505471264943e-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": 6.512555046356283e-06, + "observation_loss": 6.162975296319928e-06, + "chamfer": 5.041842541686492e-06, + "track": 1.1211325272597605e-06, + "acceleration": 3.4957960792780796e-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": 6.545588348672027e-06, + "observation_loss": 6.304264388745651e-06, + "chamfer": 5.150181550561683e-06, + "track": 1.154082610810292e-06, + "acceleration": 2.413239315046667e-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": 6.781792762922123e-06, + "observation_loss": 6.2851795519236475e-06, + "chamfer": 5.142780992173357e-06, + "track": 1.1423984460634529e-06, + "acceleration": 4.96613438372151e-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": 6.393076091626426e-06, + "observation_loss": 6.175459020596463e-06, + "chamfer": 5.06166361446958e-06, + "track": 1.1137956335005583e-06, + "acceleration": 2.1761725577107427e-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": 6.158572432468645e-06, + "observation_loss": 6.0941101764910854e-06, + "chamfer": 5.004417744203238e-06, + "track": 1.0896924322878476e-06, + "acceleration": 6.446230571555134e-08, + "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": 6.2144617913872935e-06, + "observation_loss": 6.166921593830921e-06, + "chamfer": 5.063722710474394e-06, + "track": 1.103198655982851e-06, + "acceleration": 4.7540009262547755e-08, + "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": 6.394316187652294e-06, + "observation_loss": 6.326660695776809e-06, + "chamfer": 5.190692263568053e-06, + "track": 1.135968432208756e-06, + "acceleration": 6.7655321345228e-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": 6.712366484862287e-06, + "observation_loss": 6.5971339608950075e-06, + "chamfer": 5.390404112404212e-06, + "track": 1.2067297348039574e-06, + "acceleration": 1.1523270870839042e-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": 6.928379207238322e-06, + "observation_loss": 6.837393357272958e-06, + "chamfer": 5.576019248110242e-06, + "track": 1.2613739954758785e-06, + "acceleration": 9.098565811882509e-08, + "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": 7.317716153920628e-06, + "observation_loss": 7.165703209466301e-06, + "chamfer": 5.820926162414253e-06, + "track": 1.3447768196783727e-06, + "acceleration": 1.5201308656287438e-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": 7.512155207223259e-06, + "observation_loss": 7.454068054357776e-06, + "chamfer": 6.032434157532407e-06, + "track": 1.4216337831385317e-06, + "acceleration": 5.808713154920042e-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": 7.875212759245187e-06, + "observation_loss": 7.5142716013942845e-06, + "chamfer": 6.087577730795601e-06, + "track": 1.4266937569118454e-06, + "acceleration": 3.609409304772271e-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": 7.5740072134067304e-06, + "observation_loss": 7.431030553561868e-06, + "chamfer": 6.045484951755498e-06, + "track": 1.3855457154932083e-06, + "acceleration": 1.4297650352546043e-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": 7.724253919150215e-06, + "observation_loss": 7.536089469795115e-06, + "chamfer": 6.130807832960272e-06, + "track": 1.4052814094611676e-06, + "acceleration": 1.881643925116805e-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": 8.142171282088384e-06, + "observation_loss": 7.887514584581368e-06, + "chamfer": 6.38281835563248e-06, + "track": 1.5046961152620497e-06, + "acceleration": 2.546568111938541e-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": 8.4135508586769e-06, + "observation_loss": 8.23652317194501e-06, + "chamfer": 6.626439244428184e-06, + "track": 1.6100840412036632e-06, + "acceleration": 1.7702780041872757e-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": 8.464760867354926e-06, + "observation_loss": 8.368719136342406e-06, + "chamfer": 6.6997740759688895e-06, + "track": 1.66894540143403e-06, + "acceleration": 9.604138995200628e-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": 8.555602107662708e-06, + "observation_loss": 8.511069609085098e-06, + "chamfer": 6.791715804865817e-06, + "track": 1.7193542589666322e-06, + "acceleration": 4.45326087117337e-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": 8.633493052911945e-06, + "observation_loss": 8.55498819873901e-06, + "chamfer": 6.815938377258135e-06, + "track": 1.739050162541389e-06, + "acceleration": 7.850440653101032e-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": 8.640006853966042e-06, + "observation_loss": 8.546524441044312e-06, + "chamfer": 6.808765647292603e-06, + "track": 1.7377587937517092e-06, + "acceleration": 9.348273977138888e-08, + "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": 8.749900189286564e-06, + "observation_loss": 8.541464012523647e-06, + "chamfer": 6.801622930652229e-06, + "track": 1.7398408544977428e-06, + "acceleration": 2.0843582149154827e-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": 9.029757165990304e-06, + "observation_loss": 8.894128768588416e-06, + "chamfer": 7.041256139928009e-06, + "track": 1.8528730834077578e-06, + "acceleration": 1.356285679321445e-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": 9.597031748853624e-06, + "observation_loss": 9.512882570561487e-06, + "chamfer": 7.445258688676404e-06, + "track": 2.067623654511408e-06, + "acceleration": 8.414877328277726e-08, + "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": 1.0254138032905757e-05, + "observation_loss": 9.984253665606957e-06, + "chamfer": 7.762437235214747e-06, + "track": 2.221816203018534e-06, + "acceleration": 2.698844809856382e-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": 9.968435733753722e-06, + "observation_loss": 9.821327694226056e-06, + "chamfer": 7.657554306206293e-06, + "track": 2.1637731606460875e-06, + "acceleration": 1.4710836637732427e-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": 9.666623554949183e-06, + "observation_loss": 9.486956514592748e-06, + "chamfer": 7.451115379808471e-06, + "track": 2.0358411347842775e-06, + "acceleration": 1.7966746668207634e-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": 9.264223990612663e-06, + "observation_loss": 9.221326763508841e-06, + "chamfer": 7.2780539994710125e-06, + "track": 1.943272309290478e-06, + "acceleration": 4.289724131467665e-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": 9.024616701935884e-06, + "observation_loss": 8.976159733720124e-06, + "chamfer": 7.10211270416039e-06, + "track": 1.874047143246571e-06, + "acceleration": 4.845658807539621e-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": 8.977786819741596e-06, + "observation_loss": 8.921318112697918e-06, + "chamfer": 7.055357400531648e-06, + "track": 1.8659607121662702e-06, + "acceleration": 5.6468600462267204e-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": 9.040849363373127e-06, + "observation_loss": 8.964747394202277e-06, + "chamfer": 7.078062026266707e-06, + "track": 1.8866850268750568e-06, + "acceleration": 7.610174890260168e-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": 9.059806870936882e-06, + "observation_loss": 8.987827641249169e-06, + "chamfer": 7.091179668350378e-06, + "track": 1.8966476318382774e-06, + "acceleration": 7.197903073574707e-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": 9.158729881164618e-06, + "observation_loss": 9.002086699183565e-06, + "chamfer": 7.0798537308292e-06, + "track": 1.922232968354365e-06, + "acceleration": 1.5664323882447206e-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": 9.36216747504659e-06, + "observation_loss": 9.049285836226773e-06, + "chamfer": 7.1116132858151104e-06, + "track": 1.9376723230379866e-06, + "acceleration": 3.1288155355468916e-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": 9.829375812842045e-06, + "observation_loss": 9.138797395280562e-06, + "chamfer": 7.149325028876774e-06, + "track": 1.9894719116564374e-06, + "acceleration": 6.905788154654147e-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": 1.0212760571448598e-05, + "observation_loss": 9.258448699256405e-06, + "chamfer": 7.231505605886923e-06, + "track": 2.0269433207431575e-06, + "acceleration": 9.543119858790305e-07, + "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": 9.825706001720391e-06, + "observation_loss": 9.344286809209734e-06, + "chamfer": 7.2906159402919e-06, + "track": 2.053670868917834e-06, + "acceleration": 4.81419192510657e-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": 9.724867595650721e-06, + "observation_loss": 9.567608685756568e-06, + "chamfer": 7.446355539286742e-06, + "track": 2.1212529190961504e-06, + "acceleration": 1.5725932200894022e-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": 9.933755791280419e-06, + "observation_loss": 9.830665476329159e-06, + "chamfer": 7.609040494571673e-06, + "track": 2.2216249817574862e-06, + "acceleration": 1.0309059916835395e-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": 1.0246900274069048e-05, + "observation_loss": 1.01962432381697e-05, + "chamfer": 7.843073035473935e-06, + "track": 2.3531697479484137e-06, + "acceleration": 5.06571460334726e-08, + "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": 1.035226887324825e-05, + "observation_loss": 1.0308329365216196e-05, + "chamfer": 7.90644025983056e-06, + "track": 2.4018888780119596e-06, + "acceleration": 4.393977093286594e-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": 1.052824063663138e-05, + "observation_loss": 1.0331635166949127e-05, + "chamfer": 7.908156476332806e-06, + "track": 2.423478690616321e-06, + "acceleration": 1.9660571126678406e-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": 1.0456130439706612e-05, + "observation_loss": 1.0337867024645675e-05, + "chamfer": 7.874576112953946e-06, + "track": 2.4632906843180535e-06, + "acceleration": 1.182637348051685e-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": 1.0384116649220232e-05, + "observation_loss": 1.0305554496881086e-05, + "chamfer": 7.827835361240432e-06, + "track": 2.47771936301433e-06, + "acceleration": 7.856193207089746e-08, + "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": 1.0424158062960487e-05, + "observation_loss": 1.0172971087740734e-05, + "chamfer": 7.742527486698236e-06, + "track": 2.430444055789849e-06, + "acceleration": 2.5118680468949606e-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": 1.057558438333217e-05, + "observation_loss": 9.963605407392606e-06, + "chamfer": 7.623389592481544e-06, + "track": 2.340215814911062e-06, + "acceleration": 6.11979146469821e-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": 1.025531400955515e-05, + "observation_loss": 9.879834578896407e-06, + "chamfer": 7.560113772342447e-06, + "track": 2.3197210339276353e-06, + "acceleration": 3.7547985698438424e-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": 1.0021889465861022e-05, + "observation_loss": 9.820802006288432e-06, + "chamfer": 7.519396149291424e-06, + "track": 2.3014063117443584e-06, + "acceleration": 2.010878574765229e-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": 9.93895810097456e-06, + "observation_loss": 9.811473319132347e-06, + "chamfer": 7.516409368690802e-06, + "track": 2.295063950441545e-06, + "acceleration": 1.274844834142641e-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": 9.977356057788711e-06, + "observation_loss": 9.889414286590181e-06, + "chamfer": 7.576828920718981e-06, + "track": 2.3125855932448758e-06, + "acceleration": 8.794135197831565e-08, + "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": 1.0033401849796064e-05, + "observation_loss": 9.992199920816347e-06, + "chamfer": 7.640507647010963e-06, + "track": 2.3516918190580327e-06, + "acceleration": 4.120150265407574e-08, + "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": 1.0189310160058085e-05, + "observation_loss": 1.0066719369206112e-05, + "chamfer": 7.65525419410551e-06, + "track": 2.4114654024742777e-06, + "acceleration": 1.2259039294804097e-07, + "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": 1.0383976587036159e-05, + "observation_loss": 1.019406317936955e-05, + "chamfer": 7.709653800702654e-06, + "track": 2.4844093786668964e-06, + "acceleration": 1.8991373451626714e-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": 1.0742940503405407e-05, + "observation_loss": 1.0530067811487243e-05, + "chamfer": 7.874185030232184e-06, + "track": 2.6558825538813835e-06, + "acceleration": 2.1287249296619848e-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": 1.1127400284749456e-05, + "observation_loss": 1.088942644855706e-05, + "chamfer": 8.053444616962224e-06, + "track": 2.8359816042211605e-06, + "acceleration": 2.3797423409632756e-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": 1.146027625509305e-05, + "observation_loss": 1.1250329407630488e-05, + "chamfer": 8.257275112555362e-06, + "track": 2.9930545224488014e-06, + "acceleration": 2.0994710325794586e-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": 1.1544787412276492e-05, + "observation_loss": 1.143310328188818e-05, + "chamfer": 8.344018169736955e-06, + "track": 3.0890848847775487e-06, + "acceleration": 1.1168418012630354e-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": 1.190640341519611e-05, + "observation_loss": 1.1664817066048272e-05, + "chamfer": 8.48932540975511e-06, + "track": 3.175492111040512e-06, + "acceleration": 2.4158657652151305e-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": 1.2234199857630301e-05, + "observation_loss": 1.200300994241843e-05, + "chamfer": 8.69429550220957e-06, + "track": 3.3087144402088597e-06, + "acceleration": 2.3119011416383728e-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": 1.2341379260760732e-05, + "observation_loss": 1.2255590263521299e-05, + "chamfer": 8.834043001115788e-06, + "track": 3.421547717152862e-06, + "acceleration": 8.578880539289457e-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": 1.244245777343167e-05, + "observation_loss": 1.2366675946395844e-05, + "chamfer": 8.88787235453492e-06, + "track": 3.4788033644872485e-06, + "acceleration": 7.578178440326155e-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": 1.250789500772953e-05, + "observation_loss": 1.243712267751107e-05, + "chamfer": 8.933699064073153e-06, + "track": 3.503423613437917e-06, + "acceleration": 7.077256469756321e-08, + "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": 1.2511874047049787e-05, + "observation_loss": 1.2448527741071302e-05, + "chamfer": 8.91386571311159e-06, + "track": 3.534662027959712e-06, + "acceleration": 6.334661151186083e-08, + "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": 1.2516781680460554e-05, + "observation_loss": 1.2468261957110371e-05, + "chamfer": 8.90151750354562e-06, + "track": 3.5667442261910765e-06, + "acceleration": 4.851952439821616e-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": 1.258037536899792e-05, + "observation_loss": 1.2446025721146725e-05, + "chamfer": 8.89421244210098e-06, + "track": 3.5518137337930966e-06, + "acceleration": 1.3434926415811788e-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": 1.2549048733490054e-05, + "observation_loss": 1.2413798685884103e-05, + "chamfer": 8.876392712409142e-06, + "track": 3.5374057461012853e-06, + "acceleration": 1.3525047393159184e-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": 1.2408740985847544e-05, + "observation_loss": 1.2390813935780898e-05, + "chamfer": 8.84981363924453e-06, + "track": 3.541000523910043e-06, + "acceleration": 1.7927051843003028e-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": 1.241046811628621e-05, + "observation_loss": 1.2354590580798686e-05, + "chamfer": 8.815170986054e-06, + "track": 3.539419594744686e-06, + "acceleration": 5.587794404959823e-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": 1.2456913282221649e-05, + "observation_loss": 1.2333310223766603e-05, + "chamfer": 8.793681445240509e-06, + "track": 3.5396285511524184e-06, + "acceleration": 1.2360305845504627e-07, + "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": 1.2348672498774249e-05, + "observation_loss": 1.2232068911544047e-05, + "chamfer": 8.736687050259206e-06, + "track": 3.49538140653749e-06, + "acceleration": 1.1660350907050088e-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": 1.2098834304197226e-05, + "observation_loss": 1.2061946108588018e-05, + "chamfer": 8.645468369650189e-06, + "track": 3.416477284190478e-06, + "acceleration": 3.6887900733972856e-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": 9.473006734594946e-06, + "chamfer_mean": 6.553014297120778e-06, + "track_mean": 1.8945838193099955e-06, + "acceleration_mean": 1.0254086231416733e-06, + "observation_score": 8.447598143372185e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429490809001436 + }, + "score_arrays_file": "pass_scores/pass_end_0140.npz", + "score_arrays_sha256": "78dbb5fd2a121e4eb7bff148655be9e77dcf6543e60ea18b8ab9fffdd04ebdb8" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0141.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0141.json new file mode 100644 index 0000000000000000000000000000000000000000..ac2aa3364b5f76d45f15aa1111d4bcbc88a08294 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0141.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13536, + "completed_passes": 141, + "snapshot": "pass_end_0141", + "candidate": true, + "snapshot_arrays_sha256": "971cf00d9e3c32dd2ec192c1be69e0e380e3fa548ea181fa34c014bf2838cf91", + "score": 8.436647687422768e-06, + "score_result": { + "score": 8.436647687422768e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.95473091682652e-06, + 3.304768142697867e-06, + 3.695299938044627e-06, + 4.540430381894112e-06, + 5.400827831181232e-06, + 5.805148248327896e-06, + 5.82662914894172e-06, + 5.701569079974433e-06, + 5.510486062121345e-06, + 5.475993930303957e-06, + 5.6453541219525505e-06, + 5.833629529661266e-06, + 6.0785332607338205e-06, + 6.241650680749444e-06, + 6.3424517975363415e-06, + 6.478393061115639e-06, + 6.333669716696022e-06, + 6.052032404113561e-06, + 5.866166247869842e-06, + 5.827529548696475e-06, + 5.826656888530124e-06, + 5.700713245460065e-06, + 5.456365215650294e-06, + 5.345536465028999e-06, + 5.506502020580228e-06, + 5.849648459843593e-06, + 6.135856892797165e-06, + 6.2785829868516885e-06, + 6.262331226025708e-06, + 6.156205472507281e-06, + 6.0757492974516936e-06, + 6.148644843051443e-06, + 6.309401214821264e-06, + 6.580268745892681e-06, + 6.819103873567656e-06, + 7.146159532567253e-06, + 7.434418876073323e-06, + 7.494983947253786e-06, + 7.408728379232343e-06, + 7.509472197853029e-06, + 7.859183824621141e-06, + 8.2084061432397e-06, + 8.341181455762126e-06, + 8.482541488774586e-06, + 8.526711098966189e-06, + 8.518851245753467e-06, + 8.514927685610019e-06, + 8.86842462932691e-06, + 9.488016075920314e-06, + 9.96048311208142e-06, + 9.799025974643882e-06, + 9.466088158660568e-06, + 9.20056572795147e-06, + 8.958051694207825e-06, + 8.903623893274926e-06, + 8.947058631747495e-06, + 8.972042451205198e-06, + 8.987727596831974e-06, + 9.035130460688379e-06, + 9.126239092438482e-06, + 9.247217349184211e-06, + 9.336726179753896e-06, + 9.56234634941211e-06, + 9.83052268566098e-06, + 1.020095805870369e-05, + 1.0316766747564543e-05, + 1.0343228495912626e-05, + 1.0352452591178007e-05, + 1.032216187013546e-05, + 1.01906516647432e-05, + 9.980922186514363e-06, + 9.896913070406299e-06, + 9.835317541728728e-06, + 9.821984349400736e-06, + 9.89876571111381e-06, + 1.0001077498600353e-05, + 1.0074199053633492e-05, + 1.0197939445788506e-05, + 1.0531012776482385e-05, + 1.0889394616242498e-05, + 1.1251273463130929e-05, + 1.143221106758574e-05, + 1.1662519682431594e-05, + 1.2001166396657936e-05, + 1.225491359946318e-05, + 1.2366413102427032e-05, + 1.2437660188879818e-05, + 1.2448477718862705e-05, + 1.246801457455149e-05, + 1.2445840184227563e-05, + 1.2413973308866844e-05, + 1.2391888049023692e-05, + 1.235543459188193e-05, + 1.23345917018014e-05, + 1.2233455890964251e-05, + 1.206488195748534e-05 + ] + ], + "episode_mean_losses": [ + 8.436647687422768e-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": 2.95473091682652e-06, + "observation_loss": 2.95473091682652e-06, + "chamfer": 2.506047621864127e-06, + "track": 4.4868320969726483e-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": 4.411624831845984e-05, + "observation_loss": 3.304768142697867e-06, + "chamfer": 2.7956830308539793e-06, + "track": 5.090851686873066e-07, + "acceleration": 4.081147926626727e-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": 2.668996421562042e-05, + "observation_loss": 3.695299938044627e-06, + "chamfer": 3.1192466849461198e-06, + "track": 5.760531962550886e-07, + "acceleration": 2.2994663595454767e-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": 1.2614932529686484e-05, + "observation_loss": 4.540430381894112e-06, + "chamfer": 3.787235982599668e-06, + "track": 7.531944561378623e-07, + "acceleration": 8.074502147792373e-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": 9.806348316487856e-06, + "observation_loss": 5.400827831181232e-06, + "chamfer": 4.433231879374944e-06, + "track": 9.675961791799637e-07, + "acceleration": 4.405520485306624e-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": 7.459981134161353e-06, + "observation_loss": 5.805148248327896e-06, + "chamfer": 4.709655058832141e-06, + "track": 1.095493303182593e-06, + "acceleration": 1.6548329995202948e-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": 7.004020517342724e-06, + "observation_loss": 5.82662914894172e-06, + "chamfer": 4.698403699876508e-06, + "track": 1.1282253353783744e-06, + "acceleration": 1.1773911410273286e-06, + "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": 6.3000552472658455e-06, + "observation_loss": 5.701569079974433e-06, + "chamfer": 4.596520284394501e-06, + "track": 1.1050487955799326e-06, + "acceleration": 5.984861672914121e-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": 6.487430255219806e-06, + "observation_loss": 5.510486062121345e-06, + "chamfer": 4.457329396245768e-06, + "track": 1.0531566658755764e-06, + "acceleration": 9.769439657247858e-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": 6.288129497988848e-06, + "observation_loss": 5.475993930303957e-06, + "chamfer": 4.4527905629365705e-06, + "track": 1.0232031399937114e-06, + "acceleration": 8.121355108414718e-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": 6.0391212173271924e-06, + "observation_loss": 5.6453541219525505e-06, + "chamfer": 4.6135842239891645e-06, + "track": 1.0317700116502238e-06, + "acceleration": 3.937668680009665e-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": 6.322268291114597e-06, + "observation_loss": 5.833629529661266e-06, + "chamfer": 4.7751227612025104e-06, + "track": 1.0585067684587557e-06, + "acceleration": 4.886388182967494e-07, + "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": 6.592386853299104e-06, + "observation_loss": 6.0785332607338205e-06, + "chamfer": 4.989442459191196e-06, + "track": 1.0890905741689494e-06, + "acceleration": 5.138535357218643e-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": 6.491735348390648e-06, + "observation_loss": 6.241650680749444e-06, + "chamfer": 5.131618763698498e-06, + "track": 1.1100319170509465e-06, + "acceleration": 2.5008458237607556e-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": 6.711563855787972e-06, + "observation_loss": 6.3424517975363415e-06, + "chamfer": 5.223347216087859e-06, + "track": 1.1191044677616446e-06, + "acceleration": 3.691120582516305e-07, + "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": 7.016269591986202e-06, + "observation_loss": 6.478393061115639e-06, + "chamfer": 5.339345534594031e-06, + "track": 1.139047640208446e-06, + "acceleration": 5.378767582442379e-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": 6.5606136558926664e-06, + "observation_loss": 6.333669716696022e-06, + "chamfer": 5.223548669164302e-06, + "track": 1.1101209338448825e-06, + "acceleration": 2.269440813051915e-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": 6.341799235087819e-06, + "observation_loss": 6.052032404113561e-06, + "chamfer": 5.004744707548525e-06, + "track": 1.0472878102518735e-06, + "acceleration": 2.8976663202229247e-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": 6.035360911482712e-06, + "observation_loss": 5.866166247869842e-06, + "chamfer": 4.863937647314742e-06, + "track": 1.0022286005550995e-06, + "acceleration": 1.691947488779988e-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": 5.953980235062772e-06, + "observation_loss": 5.827529548696475e-06, + "chamfer": 4.835826530324994e-06, + "track": 9.917029046846437e-07, + "acceleration": 1.264507858422803e-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": 6.027084054949228e-06, + "observation_loss": 5.826656888530124e-06, + "chamfer": 4.834764695260674e-06, + "track": 9.918920795826125e-07, + "acceleration": 2.0042718062995846e-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": 5.920664079894777e-06, + "observation_loss": 5.700713245460065e-06, + "chamfer": 4.738900770462351e-06, + "track": 9.618125886845519e-07, + "acceleration": 2.1995103338667832e-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": 5.6406438488920685e-06, + "observation_loss": 5.456365215650294e-06, + "chamfer": 4.546625405055238e-06, + "track": 9.097399811253126e-07, + "acceleration": 1.8427878956117638e-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": 5.470626547321444e-06, + "observation_loss": 5.345536465028999e-06, + "chamfer": 4.450528649613261e-06, + "track": 8.950078154157382e-07, + "acceleration": 1.2509023861184687e-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": 5.640556537400698e-06, + "observation_loss": 5.506502020580228e-06, + "chamfer": 4.562678441288881e-06, + "track": 9.43823351917672e-07, + "acceleration": 1.340544457661963e-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": 6.162702447909396e-06, + "observation_loss": 5.849648459843593e-06, + "chamfer": 4.814039129996672e-06, + "track": 1.0356093298469204e-06, + "acceleration": 3.1305393122238456e-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": 6.488176495622611e-06, + "observation_loss": 6.135856892797165e-06, + "chamfer": 5.0207609092467465e-06, + "track": 1.1150962109240936e-06, + "acceleration": 3.5231977335570264e-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": 6.52166909276275e-06, + "observation_loss": 6.2785829868516885e-06, + "chamfer": 5.130081262905151e-06, + "track": 1.1485014965728624e-06, + "acceleration": 2.43085963802514e-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": 6.759665211575339e-06, + "observation_loss": 6.262331226025708e-06, + "chamfer": 5.124831659486517e-06, + "track": 1.137499452852353e-06, + "acceleration": 4.973340992364683e-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": 6.3707175286253914e-06, + "observation_loss": 6.156205472507281e-06, + "chamfer": 5.046441401646007e-06, + "track": 1.109764184548112e-06, + "acceleration": 2.1451184295528947e-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": 6.1388855101540685e-06, + "observation_loss": 6.0757492974516936e-06, + "chamfer": 4.989897661289433e-06, + "track": 1.085851863535936e-06, + "acceleration": 6.313609191010983e-08, + "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": 6.1963696680322755e-06, + "observation_loss": 6.148644843051443e-06, + "chamfer": 5.049022547609638e-06, + "track": 1.0996224091286422e-06, + "acceleration": 4.772495643123875e-08, + "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": 6.378929356287699e-06, + "observation_loss": 6.309401214821264e-06, + "chamfer": 5.176718332222663e-06, + "track": 1.1326826552249258e-06, + "acceleration": 6.952826936412748e-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": 6.696028322039638e-06, + "observation_loss": 6.580268745892681e-06, + "chamfer": 5.37673167855246e-06, + "track": 1.2035368399665458e-06, + "acceleration": 1.1575976088806783e-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": 6.91139302944066e-06, + "observation_loss": 6.819103873567656e-06, + "chamfer": 5.5614746088394895e-06, + "track": 1.2576293784150039e-06, + "acceleration": 9.228921982185057e-08, + "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": 7.2996267590497155e-06, + "observation_loss": 7.146159532567253e-06, + "chamfer": 5.805603905173484e-06, + "track": 1.3405555137069314e-06, + "acceleration": 1.5346724069331685e-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": 7.492546046705684e-06, + "observation_loss": 7.434418876073323e-06, + "chamfer": 6.017271061864449e-06, + "track": 1.41714804158255e-06, + "acceleration": 5.812700720753128e-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": 7.856661795813125e-06, + "observation_loss": 7.494983947253786e-06, + "chamfer": 6.072840278648073e-06, + "track": 1.4221436686057132e-06, + "acceleration": 3.6167770645079145e-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": 7.55329756430001e-06, + "observation_loss": 7.408728379232343e-06, + "chamfer": 6.028363259247271e-06, + "track": 1.3803650062982342e-06, + "acceleration": 1.4456922770023084e-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": 7.697156434005592e-06, + "observation_loss": 7.509472197853029e-06, + "chamfer": 6.110512458690209e-06, + "track": 1.398959511789144e-06, + "acceleration": 1.876841082548708e-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": 8.114409865811467e-06, + "observation_loss": 7.859183824621141e-06, + "chamfer": 6.361628493323224e-06, + "track": 1.4975556723584305e-06, + "acceleration": 2.552260411903262e-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": 8.385684850509278e-06, + "observation_loss": 8.2084061432397e-06, + "chamfer": 6.605633643630426e-06, + "track": 1.602772840669786e-06, + "acceleration": 1.772791051735112e-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": 8.436704774794634e-06, + "observation_loss": 8.341181455762126e-06, + "chamfer": 6.67962422085111e-06, + "track": 1.6615567801636644e-06, + "acceleration": 9.552328350537209e-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": 8.527408681402449e-06, + "observation_loss": 8.482541488774586e-06, + "chamfer": 6.770982054149499e-06, + "track": 1.7115594346250873e-06, + "acceleration": 4.4867466186815363e-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": 8.60549153003376e-06, + "observation_loss": 8.526711098966189e-06, + "chamfer": 6.795414719817927e-06, + "track": 1.7312961517745862e-06, + "acceleration": 7.878040264586161e-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": 8.612523743067868e-06, + "observation_loss": 8.518851245753467e-06, + "chamfer": 6.788615792174824e-06, + "track": 1.730235226204968e-06, + "acceleration": 9.367217757016988e-08, + "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": 8.72306918608956e-06, + "observation_loss": 8.514927685610019e-06, + "chamfer": 6.782270247640554e-06, + "track": 1.7326570969089516e-06, + "acceleration": 2.0814162837723416e-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": 9.003965715237428e-06, + "observation_loss": 8.86842462932691e-06, + "chamfer": 7.022673798928736e-06, + "track": 1.8457503756508231e-06, + "acceleration": 1.3554108591051772e-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": 9.57235533860512e-06, + "observation_loss": 9.488016075920314e-06, + "chamfer": 7.427658601955045e-06, + "track": 2.0603570192179177e-06, + "acceleration": 8.433884346459308e-08, + "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": 1.0230051884718705e-05, + "observation_loss": 9.96048311208142e-06, + "chamfer": 7.745792572677601e-06, + "track": 2.2146905394038185e-06, + "acceleration": 2.6956845999848156e-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": 9.946777026925702e-06, + "observation_loss": 9.799025974643882e-06, + "chamfer": 7.641810952918604e-06, + "track": 2.1572150217252783e-06, + "acceleration": 1.4775113754694758e-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": 9.646685612096917e-06, + "observation_loss": 9.466088158660568e-06, + "chamfer": 7.436379291902995e-06, + "track": 2.0297084120102227e-06, + "acceleration": 1.8059714079754485e-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": 9.243317435903009e-06, + "observation_loss": 9.20056572795147e-06, + "chamfer": 7.2631423790880945e-06, + "track": 1.937423121489701e-06, + "acceleration": 4.275186427094013e-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": 9.00622944755014e-06, + "observation_loss": 8.958051694207825e-06, + "chamfer": 7.089358859957429e-06, + "track": 1.8686929479372338e-06, + "acceleration": 4.817762544462312e-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": 8.960019840742461e-06, + "observation_loss": 8.903623893274926e-06, + "chamfer": 7.042895049380604e-06, + "track": 1.8607292986416724e-06, + "acceleration": 5.639577693727915e-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": 9.023503480420914e-06, + "observation_loss": 8.947058631747495e-06, + "chamfer": 7.065542831696803e-06, + "track": 1.8815161411112058e-06, + "acceleration": 7.64452607882049e-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": 9.050774679053575e-06, + "observation_loss": 8.972042451205198e-06, + "chamfer": 7.080133400449995e-06, + "track": 1.8919091644420405e-06, + "acceleration": 7.873190099871863e-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": 9.147484888671897e-06, + "observation_loss": 8.987727596831974e-06, + "chamfer": 7.070055744407e-06, + "track": 1.917671625051298e-06, + "acceleration": 1.5975692235770111e-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": 9.348384992335923e-06, + "observation_loss": 9.035130460688379e-06, + "chamfer": 7.10183530827635e-06, + "track": 1.9332953797857044e-06, + "acceleration": 3.1325436111728777e-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": 9.818599210120738e-06, + "observation_loss": 9.126239092438482e-06, + "chamfer": 7.140986326703569e-06, + "track": 1.9852532204822637e-06, + "acceleration": 6.923601745256747e-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": 1.02068624983076e-05, + "observation_loss": 9.247217349184211e-06, + "chamfer": 7.224163709906861e-06, + "track": 2.0230538666510256e-06, + "acceleration": 9.596454901839024e-07, + "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": 9.822199899645057e-06, + "observation_loss": 9.336726179753896e-06, + "chamfer": 7.2860325417423155e-06, + "track": 2.050693410637905e-06, + "acceleration": 4.854737198911607e-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": 9.722171853354666e-06, + "observation_loss": 9.56234634941211e-06, + "chamfer": 7.4431254688533954e-06, + "track": 2.1192208805587143e-06, + "acceleration": 1.5982568868366798e-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": 9.935894922818989e-06, + "observation_loss": 9.83052268566098e-06, + "chamfer": 7.609337444591802e-06, + "track": 2.22118569581653e-06, + "acceleration": 1.0537200978433248e-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": 1.0252317224512808e-05, + "observation_loss": 1.020095805870369e-05, + "chamfer": 7.84683015808696e-06, + "track": 2.354127673243056e-06, + "acceleration": 5.1359144492835185e-08, + "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": 1.0361879503761884e-05, + "observation_loss": 1.0316766747564543e-05, + "chamfer": 7.912528417364229e-06, + "track": 2.4042383302003145e-06, + "acceleration": 4.511269580120825e-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": 1.0542061318119522e-05, + "observation_loss": 1.0343228495912626e-05, + "chamfer": 7.916435606603045e-06, + "track": 2.4267924345622305e-06, + "acceleration": 1.9883265167663922e-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": 1.0474208465893753e-05, + "observation_loss": 1.0352452591178007e-05, + "chamfer": 7.88505894888658e-06, + "track": 2.467393869665102e-06, + "acceleration": 1.2175605945685675e-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": 1.040240931615699e-05, + "observation_loss": 1.032216187013546e-05, + "chamfer": 7.839575118850917e-06, + "track": 2.482586523910868e-06, + "acceleration": 8.024782260918073e-08, + "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": 1.0443323844810948e-05, + "observation_loss": 1.01906516647432e-05, + "chamfer": 7.755043952784035e-06, + "track": 2.435607484585489e-06, + "acceleration": 2.52672521128261e-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": 1.0596490938041825e-05, + "observation_loss": 9.980922186514363e-06, + "chamfer": 7.635373549419455e-06, + "track": 2.3455486370949075e-06, + "acceleration": 6.155686378406244e-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": 1.0276314242219087e-05, + "observation_loss": 9.896913070406299e-06, + "chamfer": 7.5718921834777575e-06, + "track": 2.3250208869285416e-06, + "acceleration": 3.7940088759569335e-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": 1.0034750630438793e-05, + "observation_loss": 9.835317541728728e-06, + "chamfer": 7.528675723733613e-06, + "track": 2.3066413632477634e-06, + "acceleration": 1.9943283291468106e-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": 9.95555365079781e-06, + "observation_loss": 9.821984349400736e-06, + "chamfer": 7.522533906012541e-06, + "track": 2.2994504433881957e-06, + "acceleration": 1.3356972772271547e-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": 9.990817488869652e-06, + "observation_loss": 9.89876571111381e-06, + "chamfer": 7.5826305874215905e-06, + "track": 2.316134668944869e-06, + "acceleration": 9.20515290658841e-08, + "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": 1.0044533155451063e-05, + "observation_loss": 1.0001077498600353e-05, + "chamfer": 7.646161975571886e-06, + "track": 2.3549152956547914e-06, + "acceleration": 4.3455322895624704e-08, + "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": 1.020356921799248e-05, + "observation_loss": 1.0074199053633492e-05, + "chamfer": 7.660047231183853e-06, + "track": 2.4141518224496394e-06, + "acceleration": 1.293702496241167e-07, + "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": 1.0392767762823496e-05, + "observation_loss": 1.0197939445788506e-05, + "chamfer": 7.71224767959211e-06, + "track": 2.485691766196396e-06, + "acceleration": 1.948287007280669e-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": 1.074585543392459e-05, + "observation_loss": 1.0531012776482385e-05, + "chamfer": 7.874959010223392e-06, + "track": 2.6560537662589923e-06, + "acceleration": 2.1484228795998206e-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": 1.1127439393021632e-05, + "observation_loss": 1.0889394616242498e-05, + "chamfer": 8.053685633058194e-06, + "track": 2.835709437931655e-06, + "acceleration": 2.3804497573109984e-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": 1.1460525456641335e-05, + "observation_loss": 1.1251273463130929e-05, + "chamfer": 8.258272828243207e-06, + "track": 2.993000862261397e-06, + "acceleration": 2.0925172350416688e-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": 1.1543308573891409e-05, + "observation_loss": 1.143221106758574e-05, + "chamfer": 8.343698027601931e-06, + "track": 3.0885128126101336e-06, + "acceleration": 1.1109791131502789e-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": 1.190351576951798e-05, + "observation_loss": 1.1662519682431594e-05, + "chamfer": 8.488254934491124e-06, + "track": 3.1742647479404695e-06, + "acceleration": 2.40996087086387e-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": 1.2231645087013021e-05, + "observation_loss": 1.2001166396657936e-05, + "chamfer": 8.693994459463283e-06, + "track": 3.3071721645683283e-06, + "acceleration": 2.3047881825277727e-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": 1.2339481145318132e-05, + "observation_loss": 1.225491359946318e-05, + "chamfer": 8.83465963852359e-06, + "track": 3.4202537335659144e-06, + "acceleration": 8.456773059606348e-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": 1.2441836588550359e-05, + "observation_loss": 1.2366413102427032e-05, + "chamfer": 8.888512638804968e-06, + "track": 3.4779004636220634e-06, + "acceleration": 7.542313085195929e-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": 1.2509822227002587e-05, + "observation_loss": 1.2437660188879818e-05, + "chamfer": 8.935211553762201e-06, + "track": 3.5024486351176165e-06, + "acceleration": 7.216191733050437e-08, + "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": 1.2514113223005552e-05, + "observation_loss": 1.2448477718862705e-05, + "chamfer": 8.91501986188814e-06, + "track": 3.533457629600889e-06, + "acceleration": 6.563524834746204e-08, + "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": 1.2518038602138404e-05, + "observation_loss": 1.246801457455149e-05, + "chamfer": 8.902778972696979e-06, + "track": 3.565235374480835e-06, + "acceleration": 5.0023771791529725e-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": 1.2582556337292772e-05, + "observation_loss": 1.2445840184227563e-05, + "chamfer": 8.895354767446406e-06, + "track": 3.550485871528508e-06, + "acceleration": 1.367164941257215e-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": 1.2551341569633223e-05, + "observation_loss": 1.2413973308866844e-05, + "chamfer": 8.877759682945907e-06, + "track": 3.5362140806682874e-06, + "acceleration": 1.3736854498347384e-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": 1.2410958333930466e-05, + "observation_loss": 1.2391888049023692e-05, + "chamfer": 8.851695383782499e-06, + "track": 3.5401928926148685e-06, + "acceleration": 1.9070059309456155e-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": 1.241204245161498e-05, + "observation_loss": 1.235543459188193e-05, + "chamfer": 8.816953595669474e-06, + "track": 3.538481223586132e-06, + "acceleration": 5.6608215004416707e-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": 1.2459909157769289e-05, + "observation_loss": 1.23345917018014e-05, + "chamfer": 8.795681424089707e-06, + "track": 3.5389105050853686e-06, + "acceleration": 1.2531774018498254e-07, + "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": 1.2351459190540481e-05, + "observation_loss": 1.2233455890964251e-05, + "chamfer": 8.738819815334864e-06, + "track": 3.4946358482557116e-06, + "acceleration": 1.1800348431734164e-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": 1.210131904372247e-05, + "observation_loss": 1.206488195748534e-05, + "chamfer": 8.648534276289865e-06, + "track": 3.4163472264481243e-06, + "acceleration": 3.643682333631659e-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": 9.461219543519897e-06, + "chamfer_mean": 6.544986727400707e-06, + "track_mean": 1.8916609401860758e-06, + "acceleration_mean": 1.0245718369827905e-06, + "observation_score": 8.436647687422768e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429408345999036 + }, + "score_arrays_file": "pass_scores/pass_end_0141.npz", + "score_arrays_sha256": "5f481431e7faabf23fcae16a99bb69c4b4067e6f9e5704b3243a3ce956c74b7a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0142.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0142.json new file mode 100644 index 0000000000000000000000000000000000000000..9034898b6edfb6196ab2cfdcf267fc9db13b1e75 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0142.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13632, + "completed_passes": 142, + "snapshot": "pass_end_0142", + "candidate": true, + "snapshot_arrays_sha256": "e7b8073580952bbc40cfa801c21d9dff67bea0f996ad331da01f32030e755247", + "score": 8.42678025492205e-06, + "score_result": { + "score": 8.42678025492205e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9542704851337476e-06, + 3.301879587525036e-06, + 3.6898038615618134e-06, + 4.526310476649087e-06, + 5.383259576774435e-06, + 5.78603112444398e-06, + 5.803983185614925e-06, + 5.68085806662566e-06, + 5.492011496244231e-06, + 5.45895909453975e-06, + 5.630859504890395e-06, + 5.820101705467096e-06, + 6.064336048439145e-06, + 6.226368896022905e-06, + 6.3238549046218395e-06, + 6.4593509705446195e-06, + 6.313891844911268e-06, + 6.032921646692557e-06, + 5.84729741603951e-06, + 5.806903118354967e-06, + 5.804107331641717e-06, + 5.676686669175979e-06, + 5.433157184597803e-06, + 5.3237272368278354e-06, + 5.482707365445094e-06, + 5.822548246214865e-06, + 6.10914321441669e-06, + 6.253814717638306e-06, + 6.240295078896452e-06, + 6.1371633819362614e-06, + 6.058029612177052e-06, + 6.1312434809224214e-06, + 6.293236765486654e-06, + 6.563334864040371e-06, + 6.801083145546727e-06, + 7.127621302061016e-06, + 7.415370419039391e-06, + 7.476141945517156e-06, + 7.387393452518154e-06, + 7.4848849180852994e-06, + 7.833332347217947e-06, + 8.183104000636376e-06, + 8.315962986671366e-06, + 8.45672457217006e-06, + 8.501780939695891e-06, + 8.494548637827393e-06, + 8.492009328620043e-06, + 8.847000572131947e-06, + 9.468656571698375e-06, + 9.942194083123468e-06, + 9.781308108358644e-06, + 9.449364370084368e-06, + 9.18380101211369e-06, + 8.94351069291588e-06, + 8.889096534403507e-06, + 8.932413948059548e-06, + 8.958748367149383e-06, + 8.976493518275674e-06, + 9.02439933270216e-06, + 9.117037734540645e-06, + 9.23963489185553e-06, + 9.333241905551404e-06, + 9.561994374962524e-06, + 9.836107892624568e-06, + 1.0212046618107706e-05, + 1.0331285011488944e-05, + 1.0361761269450653e-05, + 1.0374083103670273e-05, + 1.0346149792894721e-05, + 1.0215329893981107e-05, + 1.0003776878875215e-05, + 9.918619070958812e-06, + 9.853787560132332e-06, + 9.83478548732819e-06, + 9.908844731398858e-06, + 1.0009563084167894e-05, + 1.0080239007947966e-05, + 1.0200678843830246e-05, + 1.0530735380598344e-05, + 1.0887295502470806e-05, + 1.1249946510361042e-05, + 1.142861492553493e-05, + 1.1658182302198838e-05, + 1.1996384273516014e-05, + 1.2251772204763256e-05, + 1.2363666428427678e-05, + 1.2435351891326718e-05, + 1.2445057109289337e-05, + 1.2464930478017777e-05, + 1.2441567378118634e-05, + 1.2411986972438172e-05, + 1.2389044059091248e-05, + 1.2352104022284038e-05, + 1.2331185644143261e-05, + 1.2230852007633075e-05, + 1.2063866961398162e-05 + ] + ], + "episode_mean_losses": [ + 8.42678025492205e-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": 2.9542704851337476e-06, + "observation_loss": 2.9542704851337476e-06, + "chamfer": 2.505666998331435e-06, + "track": 4.486034583806031e-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": 4.404264109325595e-05, + "observation_loss": 3.301879587525036e-06, + "chamfer": 2.7932521788898157e-06, + "track": 5.086275223220582e-07, + "acceleration": 4.0740760596236214e-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": 2.6630599677446298e-05, + "observation_loss": 3.6898038615618134e-06, + "chamfer": 3.114796072622994e-06, + "track": 5.750078457822383e-07, + "acceleration": 2.294079604325816e-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": 1.258119118574541e-05, + "observation_loss": 4.526310476649087e-06, + "chamfer": 3.776414359890623e-06, + "track": 7.498958893847885e-07, + "acceleration": 8.054880709096324e-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": 9.791443517315201e-06, + "observation_loss": 5.383259576774435e-06, + "chamfer": 4.420757250045426e-06, + "track": 9.625022130421712e-07, + "acceleration": 4.408183940540766e-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": 7.437972726620501e-06, + "observation_loss": 5.78603112444398e-06, + "chamfer": 4.697265467257239e-06, + "track": 1.088765657186741e-06, + "acceleration": 1.6519414884896833e-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": 6.9707698457932565e-06, + "observation_loss": 5.803983185614925e-06, + "chamfer": 4.683382485382026e-06, + "track": 1.120600586546061e-06, + "acceleration": 1.1667867738651694e-06, + "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": 6.2797685131954495e-06, + "observation_loss": 5.68085806662566e-06, + "chamfer": 4.5828742258891e-06, + "track": 1.0979839544233982e-06, + "acceleration": 5.989104465697892e-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": 6.467449111369206e-06, + "observation_loss": 5.492011496244231e-06, + "chamfer": 4.445288141141646e-06, + "track": 1.0467233551025856e-06, + "acceleration": 9.754375014381367e-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": 6.2640156102133915e-06, + "observation_loss": 5.45895909453975e-06, + "chamfer": 4.441447799763409e-06, + "track": 1.017511294776341e-06, + "acceleration": 8.050567430473166e-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": 6.02286854700651e-06, + "observation_loss": 5.630859504890395e-06, + "chamfer": 4.6038753680477384e-06, + "track": 1.0269841368426569e-06, + "acceleration": 3.920091558029526e-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": 6.311998276942177e-06, + "observation_loss": 5.820101705467096e-06, + "chamfer": 4.76592458653613e-06, + "track": 1.054177005244128e-06, + "acceleration": 4.918965714750811e-07, + "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": 6.561679583683144e-06, + "observation_loss": 6.064336048439145e-06, + "chamfer": 4.979486220690887e-06, + "track": 1.0848498277482577e-06, + "acceleration": 4.973437057742558e-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": 6.471805136243347e-06, + "observation_loss": 6.226368896022905e-06, + "chamfer": 5.120736659591785e-06, + "track": 1.10563223643112e-06, + "acceleration": 2.4543638232898957e-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": 6.718347776768496e-06, + "observation_loss": 6.3238549046218395e-06, + "chamfer": 5.209653863857966e-06, + "track": 1.1142009270770359e-06, + "acceleration": 3.94492758459819e-07, + "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": 6.998496246524155e-06, + "observation_loss": 6.4593509705446195e-06, + "chamfer": 5.325231541064568e-06, + "track": 1.1341194294800516e-06, + "acceleration": 5.391453896663734e-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": 6.536370619869558e-06, + "observation_loss": 6.313891844911268e-06, + "chamfer": 5.208579295867821e-06, + "track": 1.1053126627302845e-06, + "acceleration": 2.2247893127769203e-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": 6.3280526774178725e-06, + "observation_loss": 6.032921646692557e-06, + "chamfer": 4.98999861520133e-06, + "track": 1.0429229178043897e-06, + "acceleration": 2.951309454601869e-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": 6.01851843384793e-06, + "observation_loss": 5.84729741603951e-06, + "chamfer": 4.849054221267579e-06, + "track": 9.982433084587683e-07, + "acceleration": 1.7122088991072815e-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": 5.933870852459222e-06, + "observation_loss": 5.806903118354967e-06, + "chamfer": 4.819482001039432e-06, + "track": 9.874212310023722e-07, + "acceleration": 1.2696752094143449e-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": 6.006250714563066e-06, + "observation_loss": 5.804107331641717e-06, + "chamfer": 4.816992259293329e-06, + "track": 9.871151860352256e-07, + "acceleration": 2.0214326923451154e-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": 5.89840692555299e-06, + "observation_loss": 5.676686669175979e-06, + "chamfer": 4.719804110209225e-06, + "track": 9.568827863404294e-07, + "acceleration": 2.2172024216615682e-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": 5.616208909486886e-06, + "observation_loss": 5.433157184597803e-06, + "chamfer": 4.527954843069892e-06, + "track": 9.052021709976543e-07, + "acceleration": 1.8305172488908283e-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": 5.449895525089232e-06, + "observation_loss": 5.3237272368278354e-06, + "chamfer": 4.432905825524358e-06, + "track": 8.908215818337339e-07, + "acceleration": 1.2616820299626852e-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": 5.617718215944478e-06, + "observation_loss": 5.482707365445094e-06, + "chamfer": 4.543662271316862e-06, + "track": 9.390450372848136e-07, + "acceleration": 1.3501070839083695e-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": 6.1351006479526404e-06, + "observation_loss": 5.822548246214865e-06, + "chamfer": 4.792685103893746e-06, + "track": 1.029863142321119e-06, + "acceleration": 3.125525438463228e-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": 6.462146302510519e-06, + "observation_loss": 6.10914321441669e-06, + "chamfer": 4.999947577744024e-06, + "track": 1.1091955229858286e-06, + "acceleration": 3.53003059672119e-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": 6.497813046735246e-06, + "observation_loss": 6.253814717638306e-06, + "chamfer": 5.110675374453422e-06, + "track": 1.1431391158112092e-06, + "acceleration": 2.4399827225352055e-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": 6.7372020566836e-06, + "observation_loss": 6.240295078896452e-06, + "chamfer": 5.107444849272724e-06, + "track": 1.1328502296237275e-06, + "acceleration": 4.969071483174048e-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": 6.34821708445088e-06, + "observation_loss": 6.1371633819362614e-06, + "chamfer": 5.031353339290945e-06, + "track": 1.1058099289584788e-06, + "acceleration": 2.1105361724949034e-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": 6.1205128076835535e-06, + "observation_loss": 6.058029612177052e-06, + "chamfer": 4.9758327804738656e-06, + "track": 1.0821967180163483e-06, + "acceleration": 6.248297523825386e-08, + "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": 6.178140665724641e-06, + "observation_loss": 6.1312434809224214e-06, + "chamfer": 5.034961759520229e-06, + "track": 1.0962816077153548e-06, + "acceleration": 4.6896971639398544e-08, + "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": 6.363698503264459e-06, + "observation_loss": 6.293236765486654e-06, + "chamfer": 5.163619334780378e-06, + "track": 1.129617317019438e-06, + "acceleration": 7.046187278092475e-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": 6.678124464087887e-06, + "observation_loss": 6.563334864040371e-06, + "chamfer": 5.3629751164407935e-06, + "track": 1.2003596339127398e-06, + "acceleration": 1.1478972794520814e-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": 6.8937115429434925e-06, + "observation_loss": 6.801083145546727e-06, + "chamfer": 5.547133241634583e-06, + "track": 1.253949790225306e-06, + "acceleration": 9.262833344791943e-08, + "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": 7.280947556864703e-06, + "observation_loss": 7.127621302061016e-06, + "chamfer": 5.79104835196631e-06, + "track": 1.3365728364078677e-06, + "acceleration": 1.5332608427343075e-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": 7.4733052315423265e-06, + "observation_loss": 7.415370419039391e-06, + "chamfer": 6.002557256579166e-06, + "track": 1.4128129350865493e-06, + "acceleration": 5.793501500761522e-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": 7.837597877369262e-06, + "observation_loss": 7.476141945517156e-06, + "chamfer": 6.058456165192183e-06, + "track": 1.4176857803249732e-06, + "acceleration": 3.61456130804072e-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": 7.531705250585219e-06, + "observation_loss": 7.387393452518154e-06, + "chamfer": 6.0120046327938326e-06, + "track": 1.3753888197243214e-06, + "acceleration": 1.4431176964535553e-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": 7.672294486837927e-06, + "observation_loss": 7.4848849180852994e-06, + "chamfer": 6.0917104747204576e-06, + "track": 1.3931745570516796e-06, + "acceleration": 1.8740949769835424e-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": 8.088860340649262e-06, + "observation_loss": 7.833332347217947e-06, + "chamfer": 6.342203050735407e-06, + "track": 1.4911297512298916e-06, + "acceleration": 2.555277660576394e-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": 8.361495019926224e-06, + "observation_loss": 8.183104000636376e-06, + "chamfer": 6.586724794033216e-06, + "track": 1.5963795476636733e-06, + "acceleration": 1.7839097665728332e-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": 8.41117616801057e-06, + "observation_loss": 8.315962986671366e-06, + "chamfer": 6.660939561697887e-06, + "track": 1.655023652347154e-06, + "acceleration": 9.521355792685426e-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": 8.501603588229045e-06, + "observation_loss": 8.45672457217006e-06, + "chamfer": 6.752017725375481e-06, + "track": 1.7047066194209037e-06, + "acceleration": 4.487866789304462e-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": 8.580336725572124e-06, + "observation_loss": 8.501780939695891e-06, + "chamfer": 6.777206181141082e-06, + "track": 1.7245744174942956e-06, + "acceleration": 7.855538086687375e-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": 8.58882958709728e-06, + "observation_loss": 8.494548637827393e-06, + "chamfer": 6.770798790967092e-06, + "track": 1.7237499605471385e-06, + "acceleration": 9.428063663108333e-08, + "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": 8.700535545358434e-06, + "observation_loss": 8.492009328620043e-06, + "chamfer": 6.7654414124262985e-06, + "track": 1.7265680298805819e-06, + "acceleration": 2.0852654358805012e-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": 8.982885447039735e-06, + "observation_loss": 8.847000572131947e-06, + "chamfer": 7.007007297943346e-06, + "track": 1.8399929331280873e-06, + "acceleration": 1.3588486069693317e-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": 9.552816663926933e-06, + "observation_loss": 9.468656571698375e-06, + "chamfer": 7.413781531795394e-06, + "track": 2.0548754946503323e-06, + "acceleration": 8.416001406885698e-08, + "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": 1.021241314447252e-05, + "observation_loss": 9.942194083123468e-06, + "chamfer": 7.732800440862775e-06, + "track": 2.209393642260693e-06, + "acceleration": 2.702190045056341e-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": 9.930053238349501e-06, + "observation_loss": 9.781308108358644e-06, + "chamfer": 7.629086212546099e-06, + "track": 2.1522216684388695e-06, + "acceleration": 1.4874538578624197e-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": 9.63114871410653e-06, + "observation_loss": 9.449364370084368e-06, + "chamfer": 7.4243480412405916e-06, + "track": 2.0250161014701007e-06, + "acceleration": 1.8178472771523957e-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": 9.226961083186325e-06, + "observation_loss": 9.18380101211369e-06, + "chamfer": 7.2508537414250895e-06, + "track": 1.9329474980622763e-06, + "acceleration": 4.3160323315305504e-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": 8.99178849067539e-06, + "observation_loss": 8.94351069291588e-06, + "chamfer": 7.0790415520605166e-06, + "track": 1.8644686861080118e-06, + "acceleration": 4.8277538411412024e-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": 8.945778972702101e-06, + "observation_loss": 8.889096534403507e-06, + "chamfer": 7.0326400418707635e-06, + "track": 1.8564563788459054e-06, + "acceleration": 5.668206881637161e-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": 9.01835119293537e-06, + "observation_loss": 8.932413948059548e-06, + "chamfer": 7.055181413306855e-06, + "track": 1.8772321936921799e-06, + "acceleration": 8.593680433932605e-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": 9.080116797122173e-06, + "observation_loss": 8.958748367149383e-06, + "chamfer": 7.0707828854210675e-06, + "track": 1.8879659364756662e-06, + "acceleration": 1.2136847260535433e-07, + "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": 9.148739991360344e-06, + "observation_loss": 8.976493518275674e-06, + "chamfer": 7.062481472530635e-06, + "track": 1.9140120457450394e-06, + "acceleration": 1.7224671466919972e-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": 9.340276847069617e-06, + "observation_loss": 9.02439933270216e-06, + "chamfer": 7.094399734342005e-06, + "track": 1.929999143612804e-06, + "acceleration": 3.1587748594574805e-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": 9.813733413466252e-06, + "observation_loss": 9.117037734540645e-06, + "chamfer": 7.134840871003689e-06, + "track": 1.982196863536956e-06, + "acceleration": 6.966955083953508e-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": 1.0205608305113856e-05, + "observation_loss": 9.23963489185553e-06, + "chamfer": 7.219256985990796e-06, + "track": 2.0203774511173833e-06, + "acceleration": 9.659730721978121e-07, + "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": 9.822691936278716e-06, + "observation_loss": 9.333241905551404e-06, + "chamfer": 7.284243110916577e-06, + "track": 2.0489992493821774e-06, + "acceleration": 4.894503149444063e-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": 9.724293704493903e-06, + "observation_loss": 9.561994374962524e-06, + "chamfer": 7.443252343364293e-06, + "track": 2.118742031598231e-06, + "acceleration": 1.622994716399262e-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": 9.94407309917733e-06, + "observation_loss": 9.836107892624568e-06, + "chamfer": 7.613600246259011e-06, + "track": 2.222507646365557e-06, + "acceleration": 1.0796491523024088e-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": 1.026455265673576e-05, + "observation_loss": 1.0212046618107706e-05, + "chamfer": 7.854929208406247e-06, + "track": 2.3571176370751346e-06, + "acceleration": 5.250603507533924e-08, + "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": 1.0377207217970863e-05, + "observation_loss": 1.0331285011488944e-05, + "chamfer": 7.92275295680156e-06, + "track": 2.408531827313709e-06, + "acceleration": 4.5922142533072474e-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": 1.0563968317001127e-05, + "observation_loss": 1.0361761269450653e-05, + "chamfer": 7.929583262011874e-06, + "track": 2.4321782348124543e-06, + "acceleration": 2.0220720386987523e-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": 1.050159062288003e-05, + "observation_loss": 1.0374083103670273e-05, + "chamfer": 7.900440323282965e-06, + "track": 2.4736427803873084e-06, + "acceleration": 1.2750734867950086e-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": 1.0427911547594704e-05, + "observation_loss": 1.0346149792894721e-05, + "chamfer": 7.856610864109825e-06, + "track": 2.4895387014112202e-06, + "acceleration": 8.176131416348653e-08, + "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": 1.0469453627592884e-05, + "observation_loss": 1.0215329893981107e-05, + "chamfer": 7.772531716909725e-06, + "track": 2.4427981770713814e-06, + "acceleration": 2.541241599374189e-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": 1.0620618013490457e-05, + "observation_loss": 1.0003776878875215e-05, + "chamfer": 7.651353371329606e-06, + "track": 2.352423507545609e-06, + "acceleration": 6.168407367113105e-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": 1.0301550901203882e-05, + "observation_loss": 9.918619070958812e-06, + "chamfer": 7.586934771097731e-06, + "track": 2.3316845272347564e-06, + "acceleration": 3.829322565707116e-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": 1.0051383469544817e-05, + "observation_loss": 9.853787560132332e-06, + "chamfer": 7.540730166510912e-06, + "track": 2.3130569388740696e-06, + "acceleration": 1.9759596625590348e-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": 9.977458830690011e-06, + "observation_loss": 9.83478548732819e-06, + "chamfer": 7.530058610427659e-06, + "track": 2.304726649526856e-06, + "acceleration": 1.4267298809045315e-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": 1.000598513201112e-05, + "observation_loss": 9.908844731398858e-06, + "chamfer": 7.588771495647961e-06, + "track": 2.3200730083772214e-06, + "acceleration": 9.714058535337244e-08, + "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": 1.0054428457806353e-05, + "observation_loss": 1.0009563084167894e-05, + "chamfer": 7.651491614524275e-06, + "track": 2.358071469643619e-06, + "acceleration": 4.486572890982643e-08, + "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": 1.021569096337771e-05, + "observation_loss": 1.0080239007947966e-05, + "chamfer": 7.663812539249193e-06, + "track": 2.4164269234461244e-06, + "acceleration": 1.3545167121264967e-07, + "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": 1.0399719030829147e-05, + "observation_loss": 1.0200678843830246e-05, + "chamfer": 7.71392478782218e-06, + "track": 2.4867542833817424e-06, + "acceleration": 1.9904004489035287e-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": 1.0747044143499807e-05, + "observation_loss": 1.0530735380598344e-05, + "chamfer": 7.874828042986337e-06, + "track": 2.6559075649856823e-06, + "acceleration": 2.163088481665909e-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": 1.1124513548566028e-05, + "observation_loss": 1.0887295502470806e-05, + "chamfer": 8.05249874247238e-06, + "track": 2.834796759998426e-06, + "acceleration": 2.3721798925180337e-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": 1.1455816093075555e-05, + "observation_loss": 1.1249946510361042e-05, + "chamfer": 8.257471563410945e-06, + "track": 2.992475174323772e-06, + "acceleration": 2.058698100881884e-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": 1.1537680620676838e-05, + "observation_loss": 1.142861492553493e-05, + "chamfer": 8.34154252515873e-06, + "track": 3.087072627749876e-06, + "acceleration": 1.0906614988925867e-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": 1.1899744094989728e-05, + "observation_loss": 1.1658182302198838e-05, + "chamfer": 8.485700163873844e-06, + "track": 3.1724821383249946e-06, + "acceleration": 2.415617643691803e-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": 1.2226319086039439e-05, + "observation_loss": 1.1996384273516014e-05, + "chamfer": 8.691908078617416e-06, + "track": 3.304476194898598e-06, + "acceleration": 2.2993444304120203e-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": 1.2334754501353018e-05, + "observation_loss": 1.2251772204763256e-05, + "chamfer": 8.833634637994692e-06, + "track": 3.4181371120212134e-06, + "acceleration": 8.298239606574498e-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": 1.2439891179383267e-05, + "observation_loss": 1.2363666428427678e-05, + "chamfer": 8.887780495570041e-06, + "track": 3.475886160231312e-06, + "acceleration": 7.62251559649485e-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": 1.2506758139352314e-05, + "observation_loss": 1.2435351891326718e-05, + "chamfer": 8.935085133998655e-06, + "track": 3.5002667573280632e-06, + "acceleration": 7.1406304869015e-08, + "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": 1.2510698070400394e-05, + "observation_loss": 1.2445057109289337e-05, + "chamfer": 8.914571481000166e-06, + "track": 3.530485855662846e-06, + "acceleration": 6.564132348785279e-08, + "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": 1.2514889021986164e-05, + "observation_loss": 1.2464930478017777e-05, + "chamfer": 8.902518857212272e-06, + "track": 3.5624113934318302e-06, + "acceleration": 4.995822067144218e-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": 1.258423253602814e-05, + "observation_loss": 1.2441567378118634e-05, + "chamfer": 8.89425882633077e-06, + "track": 3.547308324414189e-06, + "acceleration": 1.4266525738548808e-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": 1.2560265531647019e-05, + "observation_loss": 1.2411986972438172e-05, + "chamfer": 8.877734217094257e-06, + "track": 3.534252755343914e-06, + "acceleration": 1.4827872973910416e-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": 1.2416699973982759e-05, + "observation_loss": 1.2389044059091248e-05, + "chamfer": 8.851164238876663e-06, + "track": 3.5378802749619354e-06, + "acceleration": 2.765574080854094e-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": 1.2413231161190197e-05, + "observation_loss": 1.2352104022284038e-05, + "chamfer": 8.816121408017352e-06, + "track": 3.5359821595193353e-06, + "acceleration": 6.112701100846607e-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": 1.2458107448765077e-05, + "observation_loss": 1.2331185644143261e-05, + "chamfer": 8.794812856649514e-06, + "track": 3.5363725601200713e-06, + "acceleration": 1.2692196094121755e-07, + "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": 1.2349398275546264e-05, + "observation_loss": 1.2230852007633075e-05, + "chamfer": 8.738367796468083e-06, + "track": 3.4924842111649923e-06, + "acceleration": 1.1854596237981241e-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": 1.2101046195311937e-05, + "observation_loss": 1.2063866961398162e-05, + "chamfer": 8.649096344015561e-06, + "track": 3.4147708447562763e-06, + "acceleration": 3.7179557210720304e-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": 9.451440668328814e-06, + "chamfer_mean": 6.537737943309215e-06, + "track_mean": 1.8890422982901593e-06, + "acceleration_mean": 1.02466040293366e-06, + "observation_score": 8.42678025492205e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4156838239996432 + }, + "score_arrays_file": "pass_scores/pass_end_0142.npz", + "score_arrays_sha256": "d39f6171a6477cd6e04a0fac68b1c3bc26954715ab65c3c6e9ab8cebcead9ea9" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0143.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0143.json new file mode 100644 index 0000000000000000000000000000000000000000..8992f2abad5848bb5138f3255e9943bf0ae87afa --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0143.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13728, + "completed_passes": 143, + "snapshot": "pass_end_0143", + "candidate": true, + "snapshot_arrays_sha256": "170140c1f1d5a060becddd145491e1ce2bd24a33758393d1991178ba6c06c329", + "score": 8.415443666365263e-06, + "score_result": { + "score": 8.415443666365263e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.953808007077896e-06, + 3.2990474210237153e-06, + 3.6846022339886986e-06, + 4.512623036134755e-06, + 5.366137884266209e-06, + 5.767603397544008e-06, + 5.781825620942982e-06, + 5.66006656299578e-06, + 5.47285571883549e-06, + 5.441377197712427e-06, + 5.6159146879508626e-06, + 5.806408353237202e-06, + 6.049858711776324e-06, + 6.211369054653915e-06, + 6.305610440904275e-06, + 6.440500328608323e-06, + 6.294114427873865e-06, + 6.0138872868265025e-06, + 5.828488610859495e-06, + 5.7864413065544795e-06, + 5.7819675021164585e-06, + 5.653314929077169e-06, + 5.410817266238155e-06, + 5.302994850353571e-06, + 5.4600036492047366e-06, + 5.7967472457676195e-06, + 6.084523647587048e-06, + 6.230885446711909e-06, + 6.220224804565078e-06, + 6.119738827692345e-06, + 6.041074811946601e-06, + 6.113951258157613e-06, + 6.277700322243618e-06, + 6.545898486365331e-06, + 6.7823721110471524e-06, + 7.108229056029813e-06, + 7.395256943709683e-06, + 7.456618732248899e-06, + 7.365295914496528e-06, + 7.459087555616861e-06, + 7.805804671079386e-06, + 8.156775038514752e-06, + 8.290189725812525e-06, + 8.430770321865566e-06, + 8.476399671053514e-06, + 8.470105058222543e-06, + 8.46900002215989e-06, + 8.825445547699928e-06, + 9.449609933653846e-06, + 9.924236110236961e-06, + 9.763652087713126e-06, + 9.432327715330757e-06, + 9.166160452878103e-06, + 8.927365342970006e-06, + 8.872484613675624e-06, + 8.91549643711187e-06, + 8.94262848305516e-06, + 8.96172241482418e-06, + 9.009685527416877e-06, + 9.103654520004056e-06, + 9.22768231248483e-06, + 9.325270184490364e-06, + 9.556953955325298e-06, + 9.83714016911108e-06, + 1.021778371068649e-05, + 1.034089109452907e-05, + 1.0375095371273346e-05, + 1.0390227544121444e-05, + 1.0364644367655274e-05, + 1.02339990917244e-05, + 1.0021063644671813e-05, + 9.934758054441772e-06, + 9.86827308224747e-06, + 9.844072337727994e-06, + 9.915642294799909e-06, + 1.0015458428824786e-05, + 1.0084251698572189e-05, + 1.0200409633398522e-05, + 1.052676816470921e-05, + 1.0881368325499352e-05, + 1.1244577763136476e-05, + 1.1423049727454782e-05, + 1.1651181921479292e-05, + 1.1991032806690782e-05, + 1.2245272955624387e-05, + 1.2359446373011451e-05, + 1.2430937204044312e-05, + 1.244006762135541e-05, + 1.2458040146157146e-05, + 1.2435246389941312e-05, + 1.240658457390964e-05, + 1.2382515706121922e-05, + 1.2347567462711595e-05, + 1.2326056094025262e-05, + 1.2226198123244103e-05, + 1.2060306289640721e-05 + ] + ], + "episode_mean_losses": [ + 8.415443666365263e-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": 2.953808007077896e-06, + "observation_loss": 2.953808007077896e-06, + "chamfer": 2.5052861474250676e-06, + "track": 4.485219164962473e-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": 4.396907388581894e-05, + "observation_loss": 3.2990474210237153e-06, + "chamfer": 2.79086634691339e-06, + "track": 5.081811877971631e-07, + "acceleration": 4.067002737428993e-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": 2.6571393391350284e-05, + "observation_loss": 3.6846022339886986e-06, + "chamfer": 3.1105826110433554e-06, + "track": 5.740197366321809e-07, + "acceleration": 2.2886790247866884e-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": 1.2549648090498522e-05, + "observation_loss": 4.512623036134755e-06, + "chamfer": 3.765905148611637e-06, + "track": 7.467179443665373e-07, + "acceleration": 8.037024599616416e-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": 9.77807940216735e-06, + "observation_loss": 5.366137884266209e-06, + "chamfer": 4.408550921652932e-06, + "track": 9.575870763001149e-07, + "acceleration": 4.41194106315379e-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": 7.4170102379866876e-06, + "observation_loss": 5.767603397544008e-06, + "chamfer": 4.6853556341375224e-06, + "track": 1.0822479907801608e-06, + "acceleration": 1.6494068404426798e-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": 6.939601462363498e-06, + "observation_loss": 5.781825620942982e-06, + "chamfer": 4.668727342505008e-06, + "track": 1.1130981647511362e-06, + "acceleration": 1.157775955107354e-06, + "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": 6.260995178308804e-06, + "observation_loss": 5.66006656299578e-06, + "chamfer": 4.56917769042775e-06, + "track": 1.0908889862548676e-06, + "acceleration": 6.009286153130233e-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": 6.445785857067676e-06, + "observation_loss": 5.47285571883549e-06, + "chamfer": 4.432677087606862e-06, + "track": 1.0401786312286276e-06, + "acceleration": 9.729302519190242e-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": 6.237543402676238e-06, + "observation_loss": 5.441377197712427e-06, + "chamfer": 4.429684395290678e-06, + "track": 1.0116929161085864e-06, + "acceleration": 7.961662618072296e-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": 6.006323019391857e-06, + "observation_loss": 5.6159146879508626e-06, + "chamfer": 4.593835910782218e-06, + "track": 1.0220787771686446e-06, + "acceleration": 3.904083314409945e-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": 6.302179826889187e-06, + "observation_loss": 5.806408353237202e-06, + "chamfer": 4.75664455734659e-06, + "track": 1.0497636822037748e-06, + "acceleration": 4.95771359965147e-07, + "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": 6.531116923724767e-06, + "observation_loss": 6.049858711776324e-06, + "chamfer": 4.969329438608838e-06, + "track": 1.0805295005411608e-06, + "acceleration": 4.812582119484432e-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": 6.454908088926459e-06, + "observation_loss": 6.211369054653915e-06, + "chamfer": 5.110110578243621e-06, + "track": 1.1012585900971317e-06, + "acceleration": 2.435392332245101e-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": 6.726349965902045e-06, + "observation_loss": 6.305610440904275e-06, + "chamfer": 5.196283836994553e-06, + "track": 1.109326831283397e-06, + "acceleration": 4.2073949657606136e-07, + "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": 6.97974883223651e-06, + "observation_loss": 6.440500328608323e-06, + "chamfer": 5.3112826208234765e-06, + "track": 1.1292179351585219e-06, + "acceleration": 5.392485604716057e-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": 6.511690571642248e-06, + "observation_loss": 6.294114427873865e-06, + "chamfer": 5.1936985983047634e-06, + "track": 1.1004160569427768e-06, + "acceleration": 2.1757628587693034e-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": 6.314500751614105e-06, + "observation_loss": 6.0138872868265025e-06, + "chamfer": 4.975415777153103e-06, + "track": 1.0384717370470753e-06, + "acceleration": 3.006135500527307e-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": 6.001257133902982e-06, + "observation_loss": 5.828488610859495e-06, + "chamfer": 4.8343013077101205e-06, + "track": 9.941873031493742e-07, + "acceleration": 1.727685088326325e-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": 5.9138983488082886e-06, + "observation_loss": 5.7864413065544795e-06, + "chamfer": 4.803313913726015e-06, + "track": 9.831275065153022e-07, + "acceleration": 1.274569001452619e-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": 5.985528332530521e-06, + "observation_loss": 5.7819675021164585e-06, + "chamfer": 4.7995590648497455e-06, + "track": 9.82408437266713e-07, + "acceleration": 2.0356091567919066e-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": 5.877759576833341e-06, + "observation_loss": 5.653314929077169e-06, + "chamfer": 4.70123131890432e-06, + "track": 9.520835533294303e-07, + "acceleration": 2.2444467617788177e-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": 5.59338786843e-06, + "observation_loss": 5.410817266238155e-06, + "chamfer": 4.509983227762859e-06, + "track": 9.008340384752955e-07, + "acceleration": 1.8257043166158837e-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": 5.429382781585446e-06, + "observation_loss": 5.302994850353571e-06, + "chamfer": 4.416178853716701e-06, + "track": 8.868160534802882e-07, + "acceleration": 1.2638793123187497e-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": 5.595591119345045e-06, + "observation_loss": 5.4600036492047366e-06, + "chamfer": 4.5255310396896675e-06, + "track": 9.344726663584879e-07, + "acceleration": 1.3558741329688928e-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": 6.109482001193101e-06, + "observation_loss": 5.7967472457676195e-06, + "chamfer": 4.77234743812005e-06, + "track": 1.024399807647569e-06, + "acceleration": 3.1273495437744714e-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": 6.439870503527345e-06, + "observation_loss": 6.084523647587048e-06, + "chamfer": 4.980744051863439e-06, + "track": 1.1037795957236085e-06, + "acceleration": 3.553469127837161e-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": 6.476624093920691e-06, + "observation_loss": 6.230885446711909e-06, + "chamfer": 5.0926842050103005e-06, + "track": 1.138201469075284e-06, + "acceleration": 2.4573847667852533e-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": 6.718273652950302e-06, + "observation_loss": 6.220224804565078e-06, + "chamfer": 5.091617367725121e-06, + "track": 1.1286075505267945e-06, + "acceleration": 4.980487346983864e-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": 6.329297320917249e-06, + "observation_loss": 6.119738827692345e-06, + "chamfer": 5.017531293560751e-06, + "track": 1.1022074204447563e-06, + "acceleration": 2.0955867796601524e-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": 6.102787665440701e-06, + "observation_loss": 6.041074811946601e-06, + "chamfer": 4.96241000291775e-06, + "track": 1.0786648090288509e-06, + "acceleration": 6.171295297008328e-08, + "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": 6.160423708934104e-06, + "observation_loss": 6.113951258157613e-06, + "chamfer": 5.021021479478804e-06, + "track": 1.0929296649919706e-06, + "acceleration": 4.647228735166209e-08, + "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": 6.349096111080144e-06, + "observation_loss": 6.277700322243618e-06, + "chamfer": 5.151051482243929e-06, + "track": 1.1266488399996888e-06, + "acceleration": 7.139563251712389e-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": 6.660403414571192e-06, + "observation_loss": 6.545898486365331e-06, + "chamfer": 5.3488806770474184e-06, + "track": 1.1970179230047506e-06, + "acceleration": 1.145048571515872e-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": 6.877592568343971e-06, + "observation_loss": 6.7823721110471524e-06, + "chamfer": 5.532242539629806e-06, + "track": 1.2501294577305089e-06, + "acceleration": 9.522030097741663e-08, + "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": 7.264914529514499e-06, + "observation_loss": 7.108229056029813e-06, + "chamfer": 5.775840236310614e-06, + "track": 1.3323887060323614e-06, + "acceleration": 1.5668528874357435e-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": 7.452754744008416e-06, + "observation_loss": 7.395256943709683e-06, + "chamfer": 5.987006261420902e-06, + "track": 1.4082509096624563e-06, + "acceleration": 5.749767950646856e-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": 7.818659469194245e-06, + "observation_loss": 7.456618732248899e-06, + "chamfer": 6.043519988452317e-06, + "track": 1.4130987437965814e-06, + "acceleration": 3.6204116327098745e-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": 7.511285730288364e-06, + "observation_loss": 7.365295914496528e-06, + "chamfer": 5.995023911964381e-06, + "track": 1.3702721162189846e-06, + "acceleration": 1.4598964526157943e-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": 7.645737241546158e-06, + "observation_loss": 7.459087555616861e-06, + "chamfer": 6.071997177059529e-06, + "track": 1.3870903785573319e-06, + "acceleration": 1.8664977119442483e-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": 8.06211210147012e-06, + "observation_loss": 7.805804671079386e-06, + "chamfer": 6.321519322227687e-06, + "track": 1.4842852351648617e-06, + "acceleration": 2.5630697564338334e-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": 8.33563808555482e-06, + "observation_loss": 8.156775038514752e-06, + "chamfer": 6.56707925372757e-06, + "track": 1.5896955574135063e-06, + "acceleration": 1.7886307546177704e-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": 8.38495179777965e-06, + "observation_loss": 8.290189725812525e-06, + "chamfer": 6.641853815381182e-06, + "track": 1.6483361378050176e-06, + "acceleration": 9.476232776250981e-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": 8.475655704387464e-06, + "observation_loss": 8.430770321865566e-06, + "chamfer": 6.732988822477637e-06, + "track": 1.6977810446405783e-06, + "acceleration": 4.488538607461123e-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": 8.554825399187393e-06, + "observation_loss": 8.476399671053514e-06, + "chamfer": 6.758638846804388e-06, + "track": 1.7177611653096392e-06, + "acceleration": 7.84254439167853e-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": 8.56488804856781e-06, + "observation_loss": 8.470105058222543e-06, + "chamfer": 6.752869467163691e-06, + "track": 1.7172359321193653e-06, + "acceleration": 9.478299034526572e-08, + "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": 8.677799087308813e-06, + "observation_loss": 8.46900002215989e-06, + "chamfer": 6.748493433406111e-06, + "track": 1.7205064750669408e-06, + "acceleration": 2.08799391998582e-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": 8.961520507000387e-06, + "observation_loss": 8.825445547699928e-06, + "chamfer": 6.9910970523778815e-06, + "track": 1.8343487226957222e-06, + "acceleration": 1.3607485982447542e-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": 9.533767297398299e-06, + "observation_loss": 9.449609933653846e-06, + "chamfer": 7.400046342809219e-06, + "track": 2.0495640455919784e-06, + "acceleration": 8.415774033210255e-08, + "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": 1.0195115464739501e-05, + "observation_loss": 9.924236110236961e-06, + "chamfer": 7.720012945355847e-06, + "track": 2.2042229375074385e-06, + "acceleration": 2.708797524064721e-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": 9.912916539178696e-06, + "observation_loss": 9.763652087713126e-06, + "chamfer": 7.616413313371595e-06, + "track": 2.1472390017152065e-06, + "acceleration": 1.492647925260826e-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": 9.614643204258755e-06, + "observation_loss": 9.432327715330757e-06, + "chamfer": 7.412055310851429e-06, + "track": 2.0202724044793285e-06, + "acceleration": 1.8231514786748448e-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": 9.209689778799657e-06, + "observation_loss": 9.166160452878103e-06, + "chamfer": 7.237890258693369e-06, + "track": 1.9282701941847336e-06, + "acceleration": 4.352959592779371e-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": 8.975722266768571e-06, + "observation_loss": 8.927365342970006e-06, + "chamfer": 7.067507340252632e-06, + "track": 1.8598577753436984e-06, + "acceleration": 4.835672839931249e-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": 8.929549039748963e-06, + "observation_loss": 8.872484613675624e-06, + "chamfer": 7.020809789537452e-06, + "track": 1.851674824138172e-06, + "acceleration": 5.706465344701428e-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": 9.016256626637187e-06, + "observation_loss": 8.91549643711187e-06, + "chamfer": 7.04316971678054e-06, + "track": 1.8723269477050053e-06, + "acceleration": 1.0075998346792403e-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": 9.12585892365314e-06, + "observation_loss": 8.94262848305516e-06, + "chamfer": 7.0594119279121514e-06, + "track": 1.883216555143008e-06, + "acceleration": 1.8323022743516049e-07, + "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": 9.150498954113573e-06, + "observation_loss": 8.96172241482418e-06, + "chamfer": 7.052315595501568e-06, + "track": 1.909406819322612e-06, + "acceleration": 1.887766103436661e-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": 9.326452527602669e-06, + "observation_loss": 9.009685527416877e-06, + "chamfer": 7.084112894517602e-06, + "track": 1.925573087646626e-06, + "acceleration": 3.1676722755946685e-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": 9.80177446763264e-06, + "observation_loss": 9.103654520004056e-06, + "chamfer": 7.1257518357015215e-06, + "track": 1.977902229555184e-06, + "acceleration": 6.981195497246517e-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": 1.0198191375820898e-05, + "observation_loss": 9.22768231248483e-06, + "chamfer": 7.211318916233722e-06, + "track": 2.0163638509984594e-06, + "acceleration": 9.705095180834178e-07, + "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": 9.818034413910937e-06, + "observation_loss": 9.325270184490364e-06, + "chamfer": 7.279283181560459e-06, + "track": 2.04598677555623e-06, + "acceleration": 4.927645704810857e-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": 9.721864444145467e-06, + "observation_loss": 9.556953955325298e-06, + "chamfer": 7.44003955333028e-06, + "track": 2.1169146293686936e-06, + "acceleration": 1.6491004828367295e-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": 9.947825674316846e-06, + "observation_loss": 9.83714016911108e-06, + "chamfer": 7.614622063556453e-06, + "track": 2.2225176508072764e-06, + "acceleration": 1.1068574679029552e-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": 1.027126290864544e-05, + "observation_loss": 1.021778371068649e-05, + "chamfer": 7.859174729674123e-06, + "track": 2.358609208386042e-06, + "acceleration": 5.3478778738735855e-08, + "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": 1.0387127986177802e-05, + "observation_loss": 1.034089109452907e-05, + "chamfer": 7.92956052464433e-06, + "track": 2.41133056988474e-06, + "acceleration": 4.623700178285617e-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": 1.057791814673692e-05, + "observation_loss": 1.0375095371273346e-05, + "chamfer": 7.939052011352032e-06, + "track": 2.4360438146686647e-06, + "acceleration": 2.028227328310095e-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": 1.0517119335418101e-05, + "observation_loss": 1.0390227544121444e-05, + "chamfer": 7.911883585620672e-06, + "track": 2.4783437311270973e-06, + "acceleration": 1.2689147865785344e-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": 1.0445457519381307e-05, + "observation_loss": 1.0364644367655274e-05, + "chamfer": 7.869816727179568e-06, + "track": 2.4948276404757053e-06, + "acceleration": 8.081310909346939e-08, + "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": 1.0489624401088804e-05, + "observation_loss": 1.02339990917244e-05, + "chamfer": 7.785853085806593e-06, + "track": 2.4481462332914816e-06, + "acceleration": 2.5562559358149883e-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": 1.0641958397172857e-05, + "observation_loss": 1.0021063644671813e-05, + "chamfer": 7.663345058972482e-06, + "track": 2.3577183583256556e-06, + "acceleration": 6.208944682839501e-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": 1.0320808542019222e-05, + "observation_loss": 9.934758054441772e-06, + "chamfer": 7.5980110523232725e-06, + "track": 2.3367470021185e-06, + "acceleration": 3.860502886254835e-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": 1.006426646199543e-05, + "observation_loss": 9.86827308224747e-06, + "chamfer": 7.550202553829877e-06, + "track": 2.318070528417593e-06, + "acceleration": 1.9599376344103803e-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": 9.99927033262793e-06, + "observation_loss": 9.844072337727994e-06, + "chamfer": 7.535329586971784e-06, + "track": 2.308742978129885e-06, + "acceleration": 1.551980801650643e-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": 1.0018851753557101e-05, + "observation_loss": 9.915642294799909e-06, + "chamfer": 7.5927200668957084e-06, + "track": 2.3229226826515514e-06, + "acceleration": 1.0320961507659376e-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": 1.006223010335816e-05, + "observation_loss": 1.0015458428824786e-05, + "chamfer": 7.655035005882382e-06, + "track": 2.3604231955687283e-06, + "acceleration": 4.677179532563969e-08, + "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": 1.0225141522823833e-05, + "observation_loss": 1.0084251698572189e-05, + "chamfer": 7.6662781793857e-06, + "track": 2.4179737465601647e-06, + "acceleration": 1.408897105648066e-07, + "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": 1.0403213309473358e-05, + "observation_loss": 1.0200409633398522e-05, + "chamfer": 7.713763807259966e-06, + "track": 2.4866455987648806e-06, + "acceleration": 2.028032923817591e-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": 1.0744775863713585e-05, + "observation_loss": 1.052676816470921e-05, + "chamfer": 7.872573405620642e-06, + "track": 2.654194986462244e-06, + "acceleration": 2.1800752847411786e-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": 1.1117261237814091e-05, + "observation_loss": 1.0881368325499352e-05, + "chamfer": 8.048947165661957e-06, + "track": 2.8324209324637195e-06, + "acceleration": 2.358931254775598e-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": 1.144459474744508e-05, + "observation_loss": 1.1244577763136476e-05, + "chamfer": 8.254240128735546e-06, + "track": 2.9903376344009303e-06, + "acceleration": 2.0001733957997203e-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": 1.1528225513757206e-05, + "observation_loss": 1.1423049727454782e-05, + "chamfer": 8.338328370882664e-06, + "track": 3.0847209018247668e-06, + "acceleration": 1.0517557313960424e-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": 1.1896004252776038e-05, + "observation_loss": 1.1651181921479292e-05, + "chamfer": 8.481621989631094e-06, + "track": 3.1695594771008473e-06, + "acceleration": 2.448219618145231e-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": 1.2219144082337152e-05, + "observation_loss": 1.1991032806690782e-05, + "chamfer": 8.689487913215999e-06, + "track": 3.3015448934747837e-06, + "acceleration": 2.2811093458585674e-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": 1.2327751392149366e-05, + "observation_loss": 1.2245272955624387e-05, + "chamfer": 8.830462320474908e-06, + "track": 3.4148104077758035e-06, + "acceleration": 8.247877758549294e-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": 1.2435293683665805e-05, + "observation_loss": 1.2359446373011451e-05, + "chamfer": 8.886138857633341e-06, + "track": 3.47330751537811e-06, + "acceleration": 7.584687011785718e-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": 1.2500547200033907e-05, + "observation_loss": 1.2430937204044312e-05, + "chamfer": 8.933528988563921e-06, + "track": 3.497408670227742e-06, + "acceleration": 6.961028020668891e-08, + "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": 1.2502553545346018e-05, + "observation_loss": 1.244006762135541e-05, + "chamfer": 8.912978955777362e-06, + "track": 3.5270884382043732e-06, + "acceleration": 6.2486336105394e-08, + "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": 1.2504051483119838e-05, + "observation_loss": 1.2458040146157146e-05, + "chamfer": 8.899477506929543e-06, + "track": 3.5585626392276026e-06, + "acceleration": 4.6010995902179275e-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": 1.257165968127083e-05, + "observation_loss": 1.2435246389941312e-05, + "chamfer": 8.891795005183667e-06, + "track": 3.543451612131321e-06, + "acceleration": 1.3641297869071423e-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": 1.2545429854071699e-05, + "observation_loss": 1.240658457390964e-05, + "chamfer": 8.875633284333162e-06, + "track": 3.5309512895764783e-06, + "acceleration": 1.3884528016205877e-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": 1.2401758795022033e-05, + "observation_loss": 1.2382515706121922e-05, + "chamfer": 8.848254765325692e-06, + "track": 3.5342607134225545e-06, + "acceleration": 1.9243493909471e-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": 1.2404085282469168e-05, + "observation_loss": 1.2347567462711595e-05, + "chamfer": 8.814460670691915e-06, + "track": 3.533107246767031e-06, + "acceleration": 5.6517585278470506e-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": 1.245142448169645e-05, + "observation_loss": 1.2326056094025262e-05, + "chamfer": 8.79267645359505e-06, + "track": 3.533379640430212e-06, + "acceleration": 1.2536830240605923e-07, + "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": 1.2343631169642322e-05, + "observation_loss": 1.2226198123244103e-05, + "chamfer": 8.736443305679131e-06, + "track": 3.489755044938647e-06, + "acceleration": 1.1743328087732152e-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": 1.2097848411940504e-05, + "observation_loss": 1.2060306289640721e-05, + "chamfer": 8.647938557260204e-06, + "track": 3.412367732380517e-06, + "acceleration": 3.7541816766406555e-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": 9.439787582721237e-06, + "chamfer_mean": 6.529497355245439e-06, + "track_mean": 1.8859463507917933e-06, + "acceleration_mean": 1.0243439048466623e-06, + "observation_score": 8.415443666365263e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4301457020010275 + }, + "score_arrays_file": "pass_scores/pass_end_0143.npz", + "score_arrays_sha256": "22177654e95e377191b499b2d8737a0f7e7024c5b00058466023dc913528c357" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0144.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0144.json new file mode 100644 index 0000000000000000000000000000000000000000..2034bd21dd6df73159276a0fcaa434e4153c351c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0144.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13824, + "completed_passes": 144, + "snapshot": "pass_end_0144", + "candidate": true, + "snapshot_arrays_sha256": "baa4198ece4a82056f62cd9efda64bf8215db4ff73208ac451ffe95a3aca86fb", + "score": 8.403107453129147e-06, + "score_result": { + "score": 8.403107453129147e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9533753149735276e-06, + 3.296126806162647e-06, + 3.6792300761590013e-06, + 4.498486759985099e-06, + 5.348144895833684e-06, + 5.74866498936899e-06, + 5.759394298365805e-06, + 5.638894890580559e-06, + 5.453584890346974e-06, + 5.423961283668177e-06, + 5.6008348110481165e-06, + 5.792266165371984e-06, + 6.034929810994072e-06, + 6.196235972311115e-06, + 6.287189989961917e-06, + 6.421340003726073e-06, + 6.274483894230798e-06, + 5.994880211801501e-06, + 5.8097002693102695e-06, + 5.765907189925201e-06, + 5.759337000199594e-06, + 5.62905597689678e-06, + 5.387730652728351e-06, + 5.281668109091697e-06, + 5.436612354969839e-06, + 5.7699635362951085e-06, + 6.0586025938391685e-06, + 6.2065191741567105e-06, + 6.199017661856487e-06, + 6.101737653807504e-06, + 6.022975867381319e-06, + 6.096355264162412e-06, + 6.261810995056294e-06, + 6.52866128802998e-06, + 6.7640553425007965e-06, + 7.088741767802276e-06, + 7.3753190008574165e-06, + 7.4370132097101305e-06, + 7.342847311520018e-06, + 7.432866823364748e-06, + 7.776782695145812e-06, + 8.128588888212107e-06, + 8.262662049673963e-06, + 8.402897037740331e-06, + 8.449266715615522e-06, + 8.443780643574428e-06, + 8.443877050012816e-06, + 8.80113111634273e-06, + 9.426800716028083e-06, + 9.902545571094379e-06, + 9.743166629050393e-06, + 9.41240432439372e-06, + 9.146353477262892e-06, + 8.90900719241472e-06, + 8.853569852362853e-06, + 8.896680810721591e-06, + 8.925047950469889e-06, + 8.945240551838651e-06, + 8.993751180241816e-06, + 9.08873880689498e-06, + 9.213866178470198e-06, + 9.314266208093613e-06, + 9.548214620735962e-06, + 9.833423064264935e-06, + 1.0218590432486963e-05, + 1.0345842383685522e-05, + 1.0384821507614106e-05, + 1.0403018677607179e-05, + 1.037878064380493e-05, + 1.0248528269585222e-05, + 1.0033964827016462e-05, + 9.947517355612945e-06, + 9.8797281680163e-06, + 9.850133210420609e-06, + 9.920800948748365e-06, + 1.0019757610280067e-05, + 1.0086912880069576e-05, + 1.0199437383562326e-05, + 1.0522736374696251e-05, + 1.0875455700443126e-05, + 1.123855690821074e-05, + 1.1417646419431549e-05, + 1.164449167845305e-05, + 1.1985771379841026e-05, + 1.2240254363860004e-05, + 1.2356376828392968e-05, + 1.2427732144715264e-05, + 1.243647602677811e-05, + 1.2453944691515062e-05, + 1.2430972674337681e-05, + 1.2402402717270888e-05, + 1.23793752209167e-05, + 1.2343756679911166e-05, + 1.2322769180173054e-05, + 1.222271839651512e-05, + 1.2058456377417315e-05 + ] + ], + "episode_mean_losses": [ + 8.403107453129147e-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": 2.9533753149735276e-06, + "observation_loss": 2.9533753149735276e-06, + "chamfer": 2.50492826125992e-06, + "track": 4.484471389787359e-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": 4.389425157569349e-05, + "observation_loss": 3.296126806162647e-06, + "chamfer": 2.7884063911187695e-06, + "track": 5.077204150438774e-07, + "acceleration": 4.059812636114657e-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": 2.6508674636716023e-05, + "observation_loss": 3.6792300761590013e-06, + "chamfer": 3.1062322705111e-06, + "track": 5.729977488044824e-07, + "acceleration": 2.2829444787930697e-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": 1.2515976777649485e-05, + "observation_loss": 4.498486759985099e-06, + "chamfer": 3.7550362321780995e-06, + "track": 7.43450584650418e-07, + "acceleration": 8.017490472411737e-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": 9.759444765222725e-06, + "observation_loss": 5.348144895833684e-06, + "chamfer": 4.395626092446037e-06, + "track": 9.525187465442286e-07, + "acceleration": 4.41129986938904e-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": 7.394873591692885e-06, + "observation_loss": 5.74866498936899e-06, + "chamfer": 4.6730310714337975e-06, + "track": 1.075634145308868e-06, + "acceleration": 1.6462084886370576e-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": 6.90902834321605e-06, + "observation_loss": 5.759394298365805e-06, + "chamfer": 4.653896212403197e-06, + "track": 1.105498313336284e-06, + "acceleration": 1.1496341585370828e-06, + "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": 6.240661150513915e-06, + "observation_loss": 5.638894890580559e-06, + "chamfer": 4.555261057248572e-06, + "track": 1.083633947018825e-06, + "acceleration": 6.017663167767751e-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": 6.422851583920419e-06, + "observation_loss": 5.453584890346974e-06, + "chamfer": 4.419991455506533e-06, + "track": 1.0335936622141162e-06, + "acceleration": 9.69266693573445e-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": 6.210753781488165e-06, + "observation_loss": 5.423961283668177e-06, + "chamfer": 4.418078788148705e-06, + "track": 1.0058824955194723e-06, + "acceleration": 7.867925546634069e-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": 5.989153123664437e-06, + "observation_loss": 5.6008348110481165e-06, + "chamfer": 4.5837482502975035e-06, + "track": 1.0170866744374507e-06, + "acceleration": 3.8831822735119204e-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": 6.2902063291403465e-06, + "observation_loss": 5.792266165371984e-06, + "chamfer": 4.7470334720856044e-06, + "track": 1.0452326932863798e-06, + "acceleration": 4.979400500815245e-07, + "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": 6.501156804006314e-06, + "observation_loss": 6.034929810994072e-06, + "chamfer": 4.958807949151378e-06, + "track": 1.0761218618426938e-06, + "acceleration": 4.66226794060276e-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": 6.43978592052008e-06, + "observation_loss": 6.196235972311115e-06, + "chamfer": 5.099418558529578e-06, + "track": 1.096817300094699e-06, + "acceleration": 2.435501471609314e-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": 6.7323771872906946e-06, + "observation_loss": 6.287189989961917e-06, + "chamfer": 5.182797849556664e-06, + "track": 1.1043920267184149e-06, + "acceleration": 4.4518742470245343e-07, + "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": 6.958033736736979e-06, + "observation_loss": 6.421340003726073e-06, + "chamfer": 5.297091320244363e-06, + "track": 1.12424868348171e-06, + "acceleration": 5.36693619324069e-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": 6.488290637207683e-06, + "observation_loss": 6.274483894230798e-06, + "chamfer": 5.178908850211883e-06, + "track": 1.0955752713925904e-06, + "acceleration": 2.138066719226117e-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": 6.301254870777484e-06, + "observation_loss": 5.994880211801501e-06, + "chamfer": 4.9608252083999105e-06, + "track": 1.0340548897147528e-06, + "acceleration": 3.063747158194019e-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": 5.983858500258066e-06, + "observation_loss": 5.8097002693102695e-06, + "chamfer": 4.819526566279819e-06, + "track": 9.901737030304503e-07, + "acceleration": 1.7415824515865097e-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": 5.89372848480707e-06, + "observation_loss": 5.765907189925201e-06, + "chamfer": 4.787083526025526e-06, + "track": 9.788237775865127e-07, + "acceleration": 1.2782142277956154e-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": 5.964155207038857e-06, + "observation_loss": 5.759337000199594e-06, + "chamfer": 4.781726147484733e-06, + "track": 9.776108527148608e-07, + "acceleration": 2.0481839158037474e-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": 5.855411927768728e-06, + "observation_loss": 5.62905597689678e-06, + "chamfer": 4.681930022343295e-06, + "track": 9.471258977100661e-07, + "acceleration": 2.2635576613083686e-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": 5.568781034526182e-06, + "observation_loss": 5.387730652728351e-06, + "chamfer": 4.491395429795375e-06, + "track": 8.963352797763946e-07, + "acceleration": 1.810501970567202e-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": 5.40834207640728e-06, + "observation_loss": 5.281668109091697e-06, + "chamfer": 4.398974397190614e-06, + "track": 8.82693541370827e-07, + "acceleration": 1.266739246830184e-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": 5.573517682933016e-06, + "observation_loss": 5.436612354969839e-06, + "chamfer": 4.506868663156638e-06, + "track": 9.297436918132007e-07, + "acceleration": 1.3690514322206582e-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": 6.082455456635216e-06, + "observation_loss": 5.7699635362951085e-06, + "chamfer": 4.751228061650181e-06, + "track": 1.0187354746449273e-06, + "acceleration": 3.124920624486549e-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": 6.415027201001067e-06, + "observation_loss": 6.0586025938391685e-06, + "chamfer": 4.960542355547659e-06, + "track": 1.0980603519783472e-06, + "acceleration": 3.5642440820993215e-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": 6.4535229284956586e-06, + "observation_loss": 6.2065191741567105e-06, + "chamfer": 5.073558440926718e-06, + "track": 1.1329608469168306e-06, + "acceleration": 2.4700395329091407e-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": 6.697405297018122e-06, + "observation_loss": 6.199017661856487e-06, + "chamfer": 5.074951332062483e-06, + "track": 1.1240662161071668e-06, + "acceleration": 4.983876351616345e-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": 6.308627234830055e-06, + "observation_loss": 6.101737653807504e-06, + "chamfer": 5.003319529350847e-06, + "track": 1.0984182381434948e-06, + "acceleration": 2.0688965207682486e-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": 6.083946118451422e-06, + "observation_loss": 6.022975867381319e-06, + "chamfer": 4.948100922774756e-06, + "track": 1.0748750582934008e-06, + "acceleration": 6.09700805398461e-08, + "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": 6.143972768768435e-06, + "observation_loss": 6.096355264162412e-06, + "chamfer": 5.006816536479164e-06, + "track": 1.0895388413700857e-06, + "acceleration": 4.761764671457058e-08, + "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": 6.336691058095312e-06, + "observation_loss": 6.261810995056294e-06, + "chamfer": 5.138122105563525e-06, + "track": 1.123688775805931e-06, + "acceleration": 7.487989961418862e-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": 6.645256235060515e-06, + "observation_loss": 6.52866128802998e-06, + "chamfer": 5.334920388122555e-06, + "track": 1.1937411272811005e-06, + "acceleration": 1.165950251902359e-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": 6.8615931922977325e-06, + "observation_loss": 6.7640553425007965e-06, + "chamfer": 5.517602403415367e-06, + "track": 1.2464528253985918e-06, + "acceleration": 9.753792795663685e-08, + "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": 7.248859674291452e-06, + "observation_loss": 7.088741767802276e-06, + "chamfer": 5.760529347753618e-06, + "track": 1.32821230636182e-06, + "acceleration": 1.6011784964575781e-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": 7.432932306983275e-06, + "observation_loss": 7.3753190008574165e-06, + "chamfer": 5.971520749881165e-06, + "track": 1.4037984783499269e-06, + "acceleration": 5.761348376154274e-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": 7.799051672918722e-06, + "observation_loss": 7.4370132097101305e-06, + "chamfer": 6.028504230926046e-06, + "track": 1.4085089787840843e-06, + "acceleration": 3.620382358349161e-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": 7.490160896850284e-06, + "observation_loss": 7.342847311520018e-06, + "chamfer": 5.977718956273748e-06, + "track": 1.3651284689331078e-06, + "acceleration": 1.473134005891552e-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": 7.619115422130562e-06, + "observation_loss": 7.432866823364748e-06, + "chamfer": 6.051983746147016e-06, + "track": 1.3808831909045693e-06, + "acceleration": 1.8624858455495996e-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": 8.033910489757545e-06, + "observation_loss": 7.776782695145812e-06, + "chamfer": 6.29963687970303e-06, + "track": 1.477145815442782e-06, + "acceleration": 2.571280788288277e-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": 8.307457392220385e-06, + "observation_loss": 8.128588888212107e-06, + "chamfer": 6.5460858422738966e-06, + "track": 1.5825029322513728e-06, + "acceleration": 1.7886848979742354e-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": 8.356594662473071e-06, + "observation_loss": 8.262662049673963e-06, + "chamfer": 6.6215102378919255e-06, + "track": 1.6411516980952001e-06, + "acceleration": 9.393241384714202e-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": 8.448120752291288e-06, + "observation_loss": 8.402897037740331e-06, + "chamfer": 6.7125588429917116e-06, + "track": 1.6903378536881064e-06, + "acceleration": 4.522411600760279e-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": 8.527366844646167e-06, + "observation_loss": 8.449266715615522e-06, + "chamfer": 6.738865522493143e-06, + "track": 1.7104011931223795e-06, + "acceleration": 7.809984481355059e-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": 8.53860819916008e-06, + "observation_loss": 8.443780643574428e-06, + "chamfer": 6.7335708990867715e-06, + "track": 1.7102094034271431e-06, + "acceleration": 9.48278398027469e-08, + "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": 8.65238416736247e-06, + "observation_loss": 8.443877050012816e-06, + "chamfer": 6.729997949150857e-06, + "track": 1.7138792145487969e-06, + "acceleration": 2.0850710313879972e-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": 8.937377970141824e-06, + "observation_loss": 8.80113111634273e-06, + "chamfer": 6.97323412168771e-06, + "track": 1.8278971083418583e-06, + "acceleration": 1.3624699590764067e-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": 9.510658856015652e-06, + "observation_loss": 9.426800716028083e-06, + "chamfer": 7.3836745286826044e-06, + "track": 2.0431259599718032e-06, + "acceleration": 8.38581399875693e-08, + "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": 1.0173213013331406e-05, + "observation_loss": 9.902545571094379e-06, + "chamfer": 7.704652489337604e-06, + "track": 2.1978935365041252e-06, + "acceleration": 2.706675559238647e-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": 9.893070455291308e-06, + "observation_loss": 9.743166629050393e-06, + "chamfer": 7.601801826240262e-06, + "track": 2.141365030183806e-06, + "acceleration": 1.4990412466886482e-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": 9.595984920451883e-06, + "observation_loss": 9.41240432439372e-06, + "chamfer": 7.3976689236587845e-06, + "track": 2.014734945987584e-06, + "acceleration": 1.8358056763645436e-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": 9.189982847601641e-06, + "observation_loss": 9.146353477262892e-06, + "chamfer": 7.223461125249742e-06, + "track": 1.9228923520131502e-06, + "acceleration": 4.362893335496665e-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": 8.957021236710716e-06, + "observation_loss": 8.90900719241472e-06, + "chamfer": 7.0543837864534e-06, + "track": 1.854623747021833e-06, + "acceleration": 4.80144848324926e-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": 8.910682481655385e-06, + "observation_loss": 8.853569852362853e-06, + "chamfer": 7.0073065217002295e-06, + "track": 1.8462631032889476e-06, + "acceleration": 5.7112977458473324e-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": 9.006303116620984e-06, + "observation_loss": 8.896680810721591e-06, + "chamfer": 7.029810149106197e-06, + "track": 1.8668710026759072e-06, + "acceleration": 1.0962204299858058e-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": 9.14775773708243e-06, + "observation_loss": 8.925047950469889e-06, + "chamfer": 7.047023700579302e-06, + "track": 1.8780237951432355e-06, + "acceleration": 2.2270978661254048e-07, + "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": 9.145402145804837e-06, + "observation_loss": 8.945240551838651e-06, + "chamfer": 7.0408509600383695e-06, + "track": 1.9043891370529309e-06, + "acceleration": 2.001611818513993e-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": 9.313814189226832e-06, + "observation_loss": 8.993751180241816e-06, + "chamfer": 7.072954758768901e-06, + "track": 1.920796194099239e-06, + "acceleration": 3.200628100330505e-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": 9.789777323021553e-06, + "observation_loss": 9.08873880689498e-06, + "chamfer": 7.115619155229069e-06, + "track": 1.973120106413262e-06, + "acceleration": 7.010383455963165e-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": 1.0187857697019354e-05, + "observation_loss": 9.213866178470198e-06, + "chamfer": 7.202093911473639e-06, + "track": 2.0117720396228833e-06, + "acceleration": 9.739917459228309e-07, + "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": 9.8094487839262e-06, + "observation_loss": 9.314266208093613e-06, + "chamfer": 7.272188668139279e-06, + "track": 2.0420770852069836e-06, + "acceleration": 4.951827463628433e-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": 9.71490953816101e-06, + "observation_loss": 9.548214620735962e-06, + "chamfer": 7.434284270857461e-06, + "track": 2.1139301225048257e-06, + "acceleration": 1.6669470426222688e-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": 9.946067621058319e-06, + "observation_loss": 9.833423064264935e-06, + "chamfer": 7.612323315697722e-06, + "track": 2.221099975940888e-06, + "acceleration": 1.1264451416082011e-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": 1.0272592589899432e-05, + "observation_loss": 1.0218590432486963e-05, + "chamfer": 7.859980541979894e-06, + "track": 2.358609663133393e-06, + "acceleration": 5.400176306125104e-08, + "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": 1.0392249350843485e-05, + "observation_loss": 1.0345842383685522e-05, + "chamfer": 7.933133019832894e-06, + "track": 2.412709591226303e-06, + "acceleration": 4.640679662770708e-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": 1.0589613339107018e-05, + "observation_loss": 1.0384821507614106e-05, + "chamfer": 7.94600146036828e-06, + "track": 2.4388205019931775e-06, + "acceleration": 2.0479207307744218e-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": 1.05318413261557e-05, + "observation_loss": 1.0403018677607179e-05, + "chamfer": 7.921052201709244e-06, + "track": 2.481966248524259e-06, + "acceleration": 1.2882266275937582e-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": 1.0459698387421668e-05, + "observation_loss": 1.037878064380493e-05, + "chamfer": 7.879983968450688e-06, + "track": 2.4987969027279178e-06, + "acceleration": 8.091745939964312e-08, + "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": 1.0503687008167617e-05, + "observation_loss": 1.0248528269585222e-05, + "chamfer": 7.796245881763753e-06, + "track": 2.4522819330741186e-06, + "acceleration": 2.551587101606856e-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": 1.065715969161829e-05, + "observation_loss": 1.0033964827016462e-05, + "chamfer": 7.672148967685644e-06, + "track": 2.3618160867044935e-06, + "acceleration": 6.231946940715716e-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": 1.0336226296203677e-05, + "observation_loss": 9.947517355612945e-06, + "chamfer": 7.606737653986784e-06, + "track": 2.3407799289998366e-06, + "acceleration": 3.8870899743415066e-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": 1.0073670637211762e-05, + "observation_loss": 9.8797281680163e-06, + "chamfer": 7.557646767963888e-06, + "track": 2.3220818547997624e-06, + "acceleration": 1.939426965691382e-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": 1.0022128662967589e-05, + "observation_loss": 9.850133210420609e-06, + "chamfer": 7.538576937804464e-06, + "track": 2.3115562726161443e-06, + "acceleration": 1.7199585045091226e-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": 1.0032375939772464e-05, + "observation_loss": 9.920800948748365e-06, + "chamfer": 7.595649094582768e-06, + "track": 2.325151399418246e-06, + "acceleration": 1.1157469259615027e-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": 1.0068089068226982e-05, + "observation_loss": 1.0019757610280067e-05, + "chamfer": 7.65750155551359e-06, + "track": 2.3622562821401516e-06, + "acceleration": 4.833103872670108e-08, + "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": 1.0231579835817683e-05, + "observation_loss": 1.0086912880069576e-05, + "chamfer": 7.667938007216435e-06, + "track": 2.4189744181057904e-06, + "acceleration": 1.4466695574810728e-07, + "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": 1.0406609362689778e-05, + "observation_loss": 1.0199437383562326e-05, + "chamfer": 7.713262675679289e-06, + "track": 2.4861751626303885e-06, + "acceleration": 2.071720075491612e-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": 1.0742754966486245e-05, + "observation_loss": 1.0522736374696251e-05, + "chamfer": 7.87052067607874e-06, + "track": 2.652215471243835e-06, + "acceleration": 2.2001903232649056e-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": 1.1108825674455147e-05, + "observation_loss": 1.0875455700443126e-05, + "chamfer": 8.045621143537574e-06, + "track": 2.829834102158202e-06, + "acceleration": 2.333696187406531e-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": 1.1432607607275713e-05, + "observation_loss": 1.123855690821074e-05, + "chamfer": 8.250741302617826e-06, + "track": 2.9878153782192385e-06, + "acceleration": 1.9405030116104172e-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": 1.1521919077495113e-05, + "observation_loss": 1.1417646419431549e-05, + "chamfer": 8.33542799227871e-06, + "track": 3.082218199779163e-06, + "acceleration": 1.0427295649151347e-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": 1.1891007488884497e-05, + "observation_loss": 1.164449167845305e-05, + "chamfer": 8.477916708216071e-06, + "track": 3.1665749702369794e-06, + "acceleration": 2.465160378051223e-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": 1.2210216482344549e-05, + "observation_loss": 1.1985771379841026e-05, + "chamfer": 8.687090485182125e-06, + "track": 3.298680894658901e-06, + "acceleration": 2.2444540093147225e-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": 1.2320924724917859e-05, + "observation_loss": 1.2240254363860004e-05, + "chamfer": 8.828505087876692e-06, + "track": 3.4117492759833112e-06, + "acceleration": 8.067063816952214e-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": 1.2429898561094888e-05, + "observation_loss": 1.2356376828392968e-05, + "chamfer": 8.885147508408409e-06, + "track": 3.471228865237208e-06, + "acceleration": 7.352203823529635e-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": 1.249750130227767e-05, + "observation_loss": 1.2427732144715264e-05, + "chamfer": 8.932977834774647e-06, + "track": 3.494754537314293e-06, + "acceleration": 6.976880939646435e-08, + "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": 1.2501358469307888e-05, + "observation_loss": 1.243647602677811e-05, + "chamfer": 8.912026714824606e-06, + "track": 3.5244488572061528e-06, + "acceleration": 6.488258463832608e-08, + "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": 1.2499203876359388e-05, + "observation_loss": 1.2453944691515062e-05, + "chamfer": 8.898525265976787e-06, + "track": 3.5554191981646e-06, + "acceleration": 4.5259373138151204e-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": 1.2562568372231908e-05, + "observation_loss": 1.2430972674337681e-05, + "chamfer": 8.890639037417714e-06, + "track": 3.5403334095462924e-06, + "acceleration": 1.315952573577306e-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": 1.2535110727185383e-05, + "observation_loss": 1.2402402717270888e-05, + "chamfer": 8.874506420397665e-06, + "track": 3.527896296873223e-06, + "acceleration": 1.3270839360757236e-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": 1.2394745681376662e-05, + "observation_loss": 1.23793752209167e-05, + "chamfer": 8.847560820868239e-06, + "track": 3.531814400048461e-06, + "acceleration": 1.5370709149920003e-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": 1.2397700629662722e-05, + "observation_loss": 1.2343756679911166e-05, + "chamfer": 8.813577551336493e-06, + "track": 3.530178673827322e-06, + "acceleration": 5.3944173572517684e-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": 1.2446706932678353e-05, + "observation_loss": 1.2322769180173054e-05, + "chamfer": 8.791956133791246e-06, + "track": 3.5308135011291597e-06, + "acceleration": 1.2393745407734968e-07, + "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": 1.2339986824372318e-05, + "observation_loss": 1.222271839651512e-05, + "chamfer": 8.735704795981292e-06, + "track": 3.4870138279075036e-06, + "acceleration": 1.1726818627266766e-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": 1.2093862096662633e-05, + "observation_loss": 1.2058456377417315e-05, + "chamfer": 8.64808498590719e-06, + "track": 3.41037116413645e-06, + "acceleration": 3.5406070963972525e-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": 9.426820374377106e-06, + "chamfer_mean": 6.520562403503997e-06, + "track_mean": 1.8825450327497606e-06, + "acceleration_mean": 1.0237129507058758e-06, + "observation_score": 8.403107453129147e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4304146750000655 + }, + "score_arrays_file": "pass_scores/pass_end_0144.npz", + "score_arrays_sha256": "f41a3b737f5799a1ec7d3efa40f3fad71421cebdb603a60f2c94fa0228b3579e" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0145.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0145.json new file mode 100644 index 0000000000000000000000000000000000000000..b21f4d78086b55664e092d55a0920cd68fc29781 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0145.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 13920, + "completed_passes": 145, + "snapshot": "pass_end_0145", + "candidate": true, + "snapshot_arrays_sha256": "aca2ecf3a45889f45b21d65e24cd2943a5dcc3c10f603a4cc35591846411b016", + "score": 8.391237521720996e-06, + "score_result": { + "score": 8.391237521720996e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9529178391385358e-06, + 3.293256213510176e-06, + 3.674000936371158e-06, + 4.484366399992723e-06, + 5.330156454874668e-06, + 5.729451913794037e-06, + 5.736836101277731e-06, + 5.6178978411480784e-06, + 5.434416380012408e-06, + 5.4066049415268935e-06, + 5.585906819760567e-06, + 5.778188551630592e-06, + 6.019864940753905e-06, + 6.1808641476091e-06, + 6.269059667829424e-06, + 6.402477993106004e-06, + 6.254708750930149e-06, + 5.975757176202023e-06, + 5.7906067922885995e-06, + 5.7453989938949235e-06, + 5.7365068641956896e-06, + 5.604728812613757e-06, + 5.364858679968165e-06, + 5.2605591918108985e-06, + 5.4134097808855586e-06, + 5.743400834035128e-06, + 6.032895271346206e-06, + 6.181960088724736e-06, + 6.177814611874055e-06, + 6.083785592636559e-06, + 6.005317118251696e-06, + 6.078948899812531e-06, + 6.2462477217195556e-06, + 6.5115564211737365e-06, + 6.74591274218983e-06, + 7.069783350743819e-06, + 7.355638445005752e-06, + 7.4175109148200136e-06, + 7.320793429244077e-06, + 7.406136774079641e-06, + 7.747184099571314e-06, + 8.099472324829549e-06, + 8.233499102061614e-06, + 8.37286643218249e-06, + 8.41976907395292e-06, + 8.414855983573943e-06, + 8.41610108182067e-06, + 8.773904482950456e-06, + 9.40011886996217e-06, + 9.876628610072657e-06, + 9.718500223243609e-06, + 9.388993930770084e-06, + 9.12358609639341e-06, + 8.888665433914866e-06, + 8.833780157146975e-06, + 8.877666914486326e-06, + 8.907507435651496e-06, + 8.928853276302107e-06, + 8.977718607638963e-06, + 9.07387766346801e-06, + 9.200804015563335e-06, + 9.303694241680205e-06, + 9.539809070702177e-06, + 9.829011105466634e-06, + 1.0217803719569929e-05, + 1.0349017429689411e-05, + 1.0392510375822894e-05, + 1.041385894495761e-05, + 1.0391495379735716e-05, + 1.0261633178743068e-05, + 1.004703517537564e-05, + 9.961323485185858e-06, + 9.89304589893436e-06, + 9.860073078016285e-06, + 9.930085070664063e-06, + 1.0028791621152777e-05, + 1.0094200661114883e-05, + 1.020253239403246e-05, + 1.0522903721721377e-05, + 1.0873433893721085e-05, + 1.123665424529463e-05, + 1.1415884728194214e-05, + 1.1641067430900875e-05, + 1.1981901479884982e-05, + 1.2236925613251515e-05, + 1.2355528269836213e-05, + 1.242740654561203e-05, + 1.2436405086191371e-05, + 1.2452602277335245e-05, + 1.2429763046384323e-05, + 1.2402904758346267e-05, + 1.2379126928863116e-05, + 1.234515366377309e-05, + 1.232431623066077e-05, + 1.2224673810123932e-05, + 1.2061371307936497e-05 + ] + ], + "episode_mean_losses": [ + 8.391237521720996e-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": 2.9529178391385358e-06, + "observation_loss": 2.9529178391385358e-06, + "chamfer": 2.504549684090307e-06, + "track": 4.4836818346993823e-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": 4.381984399515204e-05, + "observation_loss": 3.293256213510176e-06, + "chamfer": 2.7859866804647027e-06, + "track": 5.072696467323112e-07, + "acceleration": 4.052658914588392e-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": 2.6446448828210123e-05, + "observation_loss": 3.674000936371158e-06, + "chamfer": 3.1020008464111015e-06, + "track": 5.720000331166375e-07, + "acceleration": 2.277244857395999e-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": 1.2485670595197007e-05, + "observation_loss": 4.484366399992723e-06, + "chamfer": 3.7441761833179044e-06, + "track": 7.401901598313998e-07, + "acceleration": 8.001304195204284e-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": 9.743900591274723e-06, + "observation_loss": 5.330156454874668e-06, + "chamfer": 4.3826894398080185e-06, + "track": 9.474669582232309e-07, + "acceleration": 4.413743681652704e-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": 7.372616437351098e-06, + "observation_loss": 5.729451913794037e-06, + "chamfer": 4.660477770812577e-06, + "track": 1.0689740292946226e-06, + "acceleration": 1.6431645235570613e-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": 6.8779663706664e-06, + "observation_loss": 5.736836101277731e-06, + "chamfer": 4.638958216673927e-06, + "track": 1.0978777709169663e-06, + "acceleration": 1.141130383075506e-06, + "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": 6.221108833415201e-06, + "observation_loss": 5.6178978411480784e-06, + "chamfer": 4.541521775536239e-06, + "track": 1.076376179298677e-06, + "acceleration": 6.032108217368659e-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": 6.401564860425424e-06, + "observation_loss": 5.434416380012408e-06, + "chamfer": 4.407433607411804e-06, + "track": 1.0269825452269288e-06, + "acceleration": 9.67148480413016e-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": 6.185437541716965e-06, + "observation_loss": 5.4066049415268935e-06, + "chamfer": 4.406568223203067e-06, + "track": 1.0000367183238268e-06, + "acceleration": 7.788326570334902e-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": 5.972645794827258e-06, + "observation_loss": 5.585906819760567e-06, + "chamfer": 4.573816113406792e-06, + "track": 1.0120907063537743e-06, + "acceleration": 3.8673880453643505e-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": 6.276551630435279e-06, + "observation_loss": 5.778188551630592e-06, + "chamfer": 4.7374405767186545e-06, + "track": 1.0407479749119375e-06, + "acceleration": 4.983631356481055e-07, + "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": 6.470398602687055e-06, + "observation_loss": 6.019864940753905e-06, + "chamfer": 4.9481604946777225e-06, + "track": 1.0717044460761826e-06, + "acceleration": 4.5053369035485957e-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": 6.425666924769757e-06, + "observation_loss": 6.1808641476091e-06, + "chamfer": 5.088488251203671e-06, + "track": 1.092375782718591e-06, + "acceleration": 2.4480266347381985e-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": 6.7355058490647934e-06, + "observation_loss": 6.269059667829424e-06, + "chamfer": 5.1695260481210425e-06, + "track": 1.0995333923347061e-06, + "acceleration": 4.6644640860904474e-07, + "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": 6.933641088835429e-06, + "observation_loss": 6.402477993106004e-06, + "chamfer": 5.283141490508569e-06, + "track": 1.1193366162842722e-06, + "acceleration": 5.311630388860067e-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": 6.465367732744198e-06, + "observation_loss": 6.254708750930149e-06, + "chamfer": 5.164052709005773e-06, + "track": 1.090656041924376e-06, + "acceleration": 2.1065875444037374e-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": 6.286742518568644e-06, + "observation_loss": 5.975757176202023e-06, + "chamfer": 4.946166882291436e-06, + "track": 1.029590407597425e-06, + "acceleration": 3.109853423666209e-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": 5.96660902374424e-06, + "observation_loss": 5.7906067922885995e-06, + "chamfer": 4.804528089152882e-06, + "track": 9.860788168225554e-07, + "acceleration": 1.760021604013673e-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": 5.873658210475696e-06, + "observation_loss": 5.7453989938949235e-06, + "chamfer": 4.770914529217407e-06, + "track": 9.744844646775164e-07, + "acceleration": 1.2825937290017464e-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": 5.942173174844356e-06, + "observation_loss": 5.7365068641956896e-06, + "chamfer": 4.763720880873734e-06, + "track": 9.727860970087931e-07, + "acceleration": 2.05666495389778e-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": 5.833157047163695e-06, + "observation_loss": 5.604728812613757e-06, + "chamfer": 4.662568699131953e-06, + "track": 9.421602271686425e-07, + "acceleration": 2.2842840508019435e-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": 5.545316525967792e-06, + "observation_loss": 5.364858679968165e-06, + "chamfer": 4.472967702895403e-06, + "track": 8.918908065425057e-07, + "acceleration": 1.8045787442133587e-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": 5.38814583705971e-06, + "observation_loss": 5.2605591918108985e-06, + "chamfer": 4.381945927889319e-06, + "track": 8.786130365479039e-07, + "acceleration": 1.2758654577282869e-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": 5.551462436415022e-06, + "observation_loss": 5.4134097808855586e-06, + "chamfer": 4.488342256081523e-06, + "track": 9.250673542737786e-07, + "acceleration": 1.3805262710775423e-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": 6.055295216356171e-06, + "observation_loss": 5.743400834035128e-06, + "chamfer": 4.730242380901473e-06, + "track": 1.013158339446818e-06, + "acceleration": 3.118945244295901e-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": 6.390022463165224e-06, + "observation_loss": 6.032895271346206e-06, + "chamfer": 4.9404779929318465e-06, + "track": 1.092417392101197e-06, + "acceleration": 3.5712739077098377e-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": 6.429796940210508e-06, + "observation_loss": 6.181960088724736e-06, + "chamfer": 5.054272605775623e-06, + "track": 1.127687255575438e-06, + "acceleration": 2.4783682306406263e-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": 6.677114015474217e-06, + "observation_loss": 6.177814611874055e-06, + "chamfer": 5.058283477410441e-06, + "track": 1.1195312481504516e-06, + "acceleration": 4.992992899133242e-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": 6.290421424637316e-06, + "observation_loss": 6.083785592636559e-06, + "chamfer": 4.989175522496225e-06, + "track": 1.0946102975140093e-06, + "acceleration": 2.066358888441755e-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": 6.066848072805442e-06, + "observation_loss": 6.005317118251696e-06, + "chamfer": 4.93413426738698e-06, + "track": 1.0711830782383913e-06, + "acceleration": 6.153076981263439e-08, + "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": 6.128356744738994e-06, + "observation_loss": 6.078948899812531e-06, + "chamfer": 4.99274847243214e-06, + "track": 1.0862004273803905e-06, + "acceleration": 4.940792663887805e-08, + "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": 6.324038167804247e-06, + "observation_loss": 6.2462477217195556e-06, + "chamfer": 5.1254637583042495e-06, + "track": 1.1207841907889815e-06, + "acceleration": 7.779036792499028e-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": 6.628329174418468e-06, + "observation_loss": 6.5115564211737365e-06, + "chamfer": 5.3211037993605714e-06, + "track": 1.1904523944394896e-06, + "acceleration": 1.1677263955789385e-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": 6.842833499831613e-06, + "observation_loss": 6.74591274218983e-06, + "chamfer": 5.503087322722422e-06, + "track": 1.2428253057805705e-06, + "acceleration": 9.692073632550091e-08, + "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": 7.230398296087515e-06, + "observation_loss": 7.069783350743819e-06, + "chamfer": 5.745622274844209e-06, + "track": 1.3241610758996103e-06, + "acceleration": 1.606151442956616e-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": 7.4136701186944265e-06, + "observation_loss": 7.355638445005752e-06, + "chamfer": 5.95620531385066e-06, + "track": 1.3994333585287677e-06, + "acceleration": 5.803146052585362e-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": 7.779867701174226e-06, + "observation_loss": 7.4175109148200136e-06, + "chamfer": 6.013489382894477e-06, + "track": 1.4040215319255367e-06, + "acceleration": 3.6235672951079323e-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": 7.4692757152661216e-06, + "observation_loss": 7.320793429244077e-06, + "chamfer": 5.960713679087348e-06, + "track": 1.3600798638435663e-06, + "acceleration": 1.4848231444375415e-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": 7.592314432258718e-06, + "observation_loss": 7.406136774079641e-06, + "chamfer": 6.031433713360457e-06, + "track": 1.3747029470323469e-06, + "acceleration": 1.8617751607052924e-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": 8.005402378330473e-06, + "observation_loss": 7.747184099571314e-06, + "chamfer": 6.277239208429819e-06, + "track": 1.469945232202008e-06, + "acceleration": 2.5821807980719313e-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": 8.279756912088487e-06, + "observation_loss": 8.099472324829549e-06, + "chamfer": 6.524370746774366e-06, + "track": 1.5751015780551825e-06, + "acceleration": 1.802848572651783e-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": 8.327135219587944e-06, + "observation_loss": 8.233499102061614e-06, + "chamfer": 6.5998733589367475e-06, + "track": 1.633625288377516e-06, + "acceleration": 9.363633779457814e-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": 8.41808650875464e-06, + "observation_loss": 8.37286643218249e-06, + "chamfer": 6.690455848001875e-06, + "track": 1.682410925241129e-06, + "acceleration": 4.522013696828253e-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": 8.49776915856637e-06, + "observation_loss": 8.41976907395292e-06, + "chamfer": 6.717240012221737e-06, + "track": 1.7025295164785348e-06, + "acceleration": 7.800009882430459e-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": 8.51000913826283e-06, + "observation_loss": 8.414855983573943e-06, + "chamfer": 6.712364211125532e-06, + "track": 1.702491886135249e-06, + "acceleration": 9.515341048427217e-08, + "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": 8.624738256912678e-06, + "observation_loss": 8.41610108182067e-06, + "chamfer": 6.709572062391089e-06, + "track": 1.7065293604900944e-06, + "acceleration": 2.0863761562850414e-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": 8.910892574931495e-06, + "observation_loss": 8.773904482950456e-06, + "chamfer": 6.953291631361935e-06, + "track": 1.8206130789621966e-06, + "acceleration": 1.36987665655397e-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": 9.484017027716618e-06, + "observation_loss": 9.40011886996217e-06, + "chamfer": 7.3645769589347765e-06, + "track": 2.0355414562800433e-06, + "acceleration": 8.389815775444731e-08, + "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": 1.0147568900720216e-05, + "observation_loss": 9.876628610072657e-06, + "chamfer": 7.686402568651829e-06, + "track": 2.1902264961681794e-06, + "acceleration": 2.709400632738834e-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": 9.869618224911392e-06, + "observation_loss": 9.718500223243609e-06, + "chamfer": 7.584289505757624e-06, + "track": 2.1342107174859848e-06, + "acceleration": 1.5111790219179966e-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": 9.573116585670505e-06, + "observation_loss": 9.388993930770084e-06, + "chamfer": 7.380844181170687e-06, + "track": 2.008149749599397e-06, + "acceleration": 1.841229675392242e-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": 9.167276402877178e-06, + "observation_loss": 9.12358609639341e-06, + "chamfer": 7.206974714790704e-06, + "track": 1.9166113816027064e-06, + "acceleration": 4.368994410697269e-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": 8.937128768593539e-06, + "observation_loss": 8.888665433914866e-06, + "chamfer": 7.039830961730331e-06, + "track": 1.8488342448108597e-06, + "acceleration": 4.8463483892646764e-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": 8.890894605428912e-06, + "observation_loss": 8.833780157146975e-06, + "chamfer": 6.993158876866801e-06, + "track": 1.8406217350275256e-06, + "acceleration": 5.71142884098208e-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": 8.977962352219038e-06, + "observation_loss": 8.877666914486326e-06, + "chamfer": 7.016320978436852e-06, + "track": 1.8613454813021235e-06, + "acceleration": 1.002950256179247e-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": 9.092274012800772e-06, + "observation_loss": 8.907507435651496e-06, + "chamfer": 7.03470050211763e-06, + "track": 1.8728072745943791e-06, + "acceleration": 1.8476623608876253e-07, + "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": 9.118551133724395e-06, + "observation_loss": 8.928853276302107e-06, + "chamfer": 7.0294527176884e-06, + "track": 1.8994010133610573e-06, + "acceleration": 1.8969817006109224e-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": 9.296975804318208e-06, + "observation_loss": 8.977718607638963e-06, + "chamfer": 7.061793439788744e-06, + "track": 1.9159251678502187e-06, + "acceleration": 3.192572251009551e-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": 9.775060789252166e-06, + "observation_loss": 9.07387766346801e-06, + "chamfer": 7.105597887857584e-06, + "track": 1.9682793208630756e-06, + "acceleration": 7.011830120973173e-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": 1.0178888260270469e-05, + "observation_loss": 9.200804015563335e-06, + "chamfer": 7.193464170995867e-06, + "track": 2.007340071941144e-06, + "acceleration": 9.78084472080809e-07, + "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": 9.801689884625375e-06, + "observation_loss": 9.303694241680205e-06, + "chamfer": 7.26533562556142e-06, + "track": 2.038358161371434e-06, + "acceleration": 4.979953587280761e-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": 9.707950994197745e-06, + "observation_loss": 9.539809070702177e-06, + "chamfer": 7.428793651342858e-06, + "track": 2.1110151919856435e-06, + "acceleration": 1.6814209402582492e-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": 9.942992619471624e-06, + "observation_loss": 9.829011105466634e-06, + "chamfer": 7.609613021486439e-06, + "track": 2.2193980839801952e-06, + "acceleration": 1.1398125820960558e-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": 1.027184771373868e-05, + "observation_loss": 1.0217803719569929e-05, + "chamfer": 7.859816832933575e-06, + "track": 2.3579866592626786e-06, + "acceleration": 5.4043816533067e-08, + "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": 1.0395777280791663e-05, + "observation_loss": 1.0349017429689411e-05, + "chamfer": 7.935566827654839e-06, + "track": 2.413450829408248e-06, + "acceleration": 4.6759780047977983e-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": 1.059786882251501e-05, + "observation_loss": 1.0392510375822894e-05, + "chamfer": 7.951499355840497e-06, + "track": 2.4410105652350467e-06, + "acceleration": 2.0535807720989396e-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": 1.0541792107687797e-05, + "observation_loss": 1.041385894495761e-05, + "chamfer": 7.928846571303438e-06, + "track": 2.4850121462804964e-06, + "acceleration": 1.2793350379070034e-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": 1.0470919733052142e-05, + "observation_loss": 1.0391495379735716e-05, + "chamfer": 7.88907527748961e-06, + "track": 2.502420329619781e-06, + "acceleration": 7.942464463894794e-08, + "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": 1.0516470865695737e-05, + "observation_loss": 1.0261633178743068e-05, + "chamfer": 7.805572749930434e-06, + "track": 2.4560606561863096e-06, + "acceleration": 2.5483794274805405e-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": 1.0671910786186345e-05, + "observation_loss": 1.004703517537564e-05, + "chamfer": 7.68088375480147e-06, + "track": 2.3661518753215205e-06, + "acceleration": 6.248752697501914e-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": 1.0352501703891903e-05, + "observation_loss": 9.961323485185858e-06, + "chamfer": 7.615996310050832e-06, + "track": 2.3453269477613503e-06, + "acceleration": 3.9117836081459245e-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": 1.0085621397593059e-05, + "observation_loss": 9.89304589893436e-06, + "chamfer": 7.566161002614535e-06, + "track": 2.3268851236935006e-06, + "acceleration": 1.9257585393006593e-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": 1.0052369361801539e-05, + "observation_loss": 9.860073078016285e-06, + "chamfer": 7.544377240265021e-06, + "track": 2.3156956103775883e-06, + "acceleration": 1.9229601377901417e-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": 1.0051462595583871e-05, + "observation_loss": 9.930085070664063e-06, + "chamfer": 7.601300239912234e-06, + "track": 2.328784830751829e-06, + "acceleration": 1.2137765281750035e-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": 1.0078708328364883e-05, + "observation_loss": 1.0028791621152777e-05, + "chamfer": 7.663099495403003e-06, + "track": 2.3656923531234497e-06, + "acceleration": 4.991644786400684e-08, + "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": 1.0243978067592252e-05, + "observation_loss": 1.0094200661114883e-05, + "chamfer": 7.672709216421936e-06, + "track": 2.421491444692947e-06, + "acceleration": 1.4977756279677124e-07, + "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": 1.041389987221919e-05, + "observation_loss": 1.020253239403246e-05, + "chamfer": 7.715442734479439e-06, + "track": 2.4870894321793457e-06, + "acceleration": 2.1136717975878128e-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": 1.0744575774879195e-05, + "observation_loss": 1.0522903721721377e-05, + "chamfer": 7.871189154684544e-06, + "track": 2.651714339663158e-06, + "acceleration": 2.2167166946474026e-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": 1.1104516488558147e-05, + "observation_loss": 1.0873433893721085e-05, + "chamfer": 8.044840797083452e-06, + "track": 2.8285930966376327e-06, + "acceleration": 2.3108241009595076e-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": 1.1424868716858327e-05, + "observation_loss": 1.123665424529463e-05, + "chamfer": 8.249950951721985e-06, + "track": 2.9867028388252947e-06, + "acceleration": 1.8821405944891012e-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": 1.1519054169184528e-05, + "observation_loss": 1.1415884728194214e-05, + "chamfer": 8.334935955645051e-06, + "track": 3.080948545175488e-06, + "acceleration": 1.0316899334839036e-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": 1.1889374945894815e-05, + "observation_loss": 1.1641067430900875e-05, + "chamfer": 8.476340553897899e-06, + "track": 3.164726877002977e-06, + "acceleration": 2.483075718373584e-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": 1.2204714039398823e-05, + "observation_loss": 1.1981901479884982e-05, + "chamfer": 8.685730790602975e-06, + "track": 3.2961706892820075e-06, + "acceleration": 2.228127300440974e-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": 1.2318185326876119e-05, + "observation_loss": 1.2236925613251515e-05, + "chamfer": 8.827612873574253e-06, + "track": 3.4093127396772616e-06, + "acceleration": 8.125945782921917e-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": 1.2429849448380992e-05, + "observation_loss": 1.2355528269836213e-05, + "chamfer": 8.885720490070526e-06, + "track": 3.469807779765688e-06, + "acceleration": 7.432132065332553e-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": 1.2497731404437218e-05, + "observation_loss": 1.242740654561203e-05, + "chamfer": 8.934090146794915e-06, + "track": 3.49331662619079e-06, + "acceleration": 7.032482329805134e-08, + "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": 1.2501865967351478e-05, + "observation_loss": 1.2436405086191371e-05, + "chamfer": 8.913600140658673e-06, + "track": 3.5228051729063736e-06, + "acceleration": 6.546110853378195e-08, + "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": 1.2497479474404827e-05, + "observation_loss": 1.2452602277335245e-05, + "chamfer": 8.899310159904417e-06, + "track": 3.553292344804504e-06, + "acceleration": 4.4877417337829684e-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": 1.2562089068524074e-05, + "observation_loss": 1.2429763046384323e-05, + "chamfer": 8.8914011939778e-06, + "track": 3.538361852406524e-06, + "acceleration": 1.323257237118014e-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": 1.2535751920950133e-05, + "observation_loss": 1.2402904758346267e-05, + "chamfer": 8.876270840119105e-06, + "track": 3.5266341456008377e-06, + "acceleration": 1.3284673627822485e-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": 1.2393285032885615e-05, + "observation_loss": 1.2379126928863116e-05, + "chamfer": 8.848583092913032e-06, + "track": 3.530543835950084e-06, + "acceleration": 1.4157953920346245e-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": 1.239786342921434e-05, + "observation_loss": 1.234515366377309e-05, + "chamfer": 8.815763067104854e-06, + "track": 3.529390141920885e-06, + "acceleration": 5.2709410169882176e-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": 1.2447641893231776e-05, + "observation_loss": 1.232431623066077e-05, + "chamfer": 8.794066161499359e-06, + "track": 3.530249841787736e-06, + "acceleration": 1.2332553467331309e-07, + "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": 1.2341408364591189e-05, + "observation_loss": 1.2224673810123932e-05, + "chamfer": 8.7380176410079e-06, + "track": 3.486655941742356e-06, + "acceleration": 1.1673424182845338e-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": 1.209751826536376e-05, + "observation_loss": 1.2061371307936497e-05, + "chamfer": 8.650987183500547e-06, + "track": 3.410383669688599e-06, + "acceleration": 3.614680821328875e-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": 9.413351657864647e-06, + "chamfer_mean": 6.511884507176546e-06, + "track_mean": 1.8793530083272003e-06, + "acceleration_mean": 1.0221141171125787e-06, + "observation_score": 8.391237521720996e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4177177059991664 + }, + "score_arrays_file": "pass_scores/pass_end_0145.npz", + "score_arrays_sha256": "56b1f5b4b8a4799d0bdf21aa64696487bf4a1a25f74e09a5717bd357c13e3edc" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0146.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0146.json new file mode 100644 index 0000000000000000000000000000000000000000..8af9c9b8343a92ad8771cb4920823992c96524bd --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0146.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14016, + "completed_passes": 146, + "snapshot": "pass_end_0146", + "candidate": true, + "snapshot_arrays_sha256": "d74ca273044d669222ebaf1bfb6d5badff75dba1606b037f1f4a7afc33c45a60", + "score": 8.378855225051515e-06, + "score_result": { + "score": 8.378855225051515e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.952524482680019e-06, + 3.2904922591114882e-06, + 3.6690369142888812e-06, + 4.470622570806881e-06, + 5.312460416462272e-06, + 5.710639925382566e-06, + 5.714549388358137e-06, + 5.597231393039692e-06, + 5.415626219473779e-06, + 5.3894982556812465e-06, + 5.571182100538863e-06, + 5.7648767324280925e-06, + 6.005378054396715e-06, + 6.165995728224516e-06, + 6.251262220757781e-06, + 6.384000698744785e-06, + 6.235977252799785e-06, + 5.957522262178827e-06, + 5.772603344667004e-06, + 5.726114977733232e-06, + 5.714972758141812e-06, + 5.581633104156936e-06, + 5.342194526747335e-06, + 5.23953258380061e-06, + 5.390365913626738e-06, + 5.717492058465723e-06, + 6.007599495205795e-06, + 6.157588813948678e-06, + 6.156566541903885e-06, + 6.065332854632288e-06, + 5.987491022096947e-06, + 6.06182993578841e-06, + 6.230111011973349e-06, + 6.494154604297364e-06, + 6.727528671035543e-06, + 7.050286058074562e-06, + 7.335631380556151e-06, + 7.3976966632471886e-06, + 7.29830571799539e-06, + 7.379353519354481e-06, + 7.717838343523908e-06, + 8.070303010754287e-06, + 8.204796358768363e-06, + 8.343630724994e-06, + 8.391084520553704e-06, + 8.387232810491696e-06, + 8.390287803194951e-06, + 8.74893430591328e-06, + 9.376019988849293e-06, + 9.853722076513804e-06, + 9.696465895103756e-06, + 9.367537131765857e-06, + 9.102093827095814e-06, + 8.869100383890327e-06, + 8.814307875582017e-06, + 8.858434739522636e-06, + 8.889338459994178e-06, + 8.911214536055923e-06, + 8.960818377090618e-06, + 9.058114301296882e-06, + 9.186599527311046e-06, + 9.292294635088183e-06, + 9.530991519568488e-06, + 9.824921107792761e-06, + 1.0217484486929607e-05, + 1.0352619028708432e-05, + 1.0400619430583902e-05, + 1.0425681466585957e-05, + 1.0405521607026458e-05, + 1.0274974556523375e-05, + 1.006098864309024e-05, + 9.976025467040017e-06, + 9.906254490488209e-06, + 9.868589586403687e-06, + 9.935820344253443e-06, + 1.003361012408277e-05, + 1.0096999176312238e-05, + 1.0201658369624056e-05, + 1.0520127034396864e-05, + 1.0868430763366632e-05, + 1.123191395890899e-05, + 1.1411107152525801e-05, + 1.1634817383310292e-05, + 1.197538040287327e-05, + 1.2232226254127454e-05, + 1.235178206115961e-05, + 1.2424570741131902e-05, + 1.2433181836968288e-05, + 1.2448314009816386e-05, + 1.2425002751115244e-05, + 1.2398767466947902e-05, + 1.2375778169371188e-05, + 1.234145020134747e-05, + 1.232079739565961e-05, + 1.2220885764691047e-05, + 1.2059376786055509e-05 + ] + ], + "episode_mean_losses": [ + 8.378855225051515e-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": 2.952524482680019e-06, + "observation_loss": 2.952524482680019e-06, + "chamfer": 2.504225449229125e-06, + "track": 4.482991471377318e-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": 4.374676427687518e-05, + "observation_loss": 3.2904922591114882e-06, + "chamfer": 2.783653826554655e-06, + "track": 5.068384325568331e-07, + "acceleration": 4.045627065352164e-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": 2.6389267077320255e-05, + "observation_loss": 3.6690369142888812e-06, + "chamfer": 3.097988383160555e-06, + "track": 5.710485879717453e-07, + "acceleration": 2.27202308451524e-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": 1.2455551768653095e-05, + "observation_loss": 4.470622570806881e-06, + "chamfer": 3.733611038114759e-06, + "track": 7.370117032223789e-07, + "acceleration": 7.984929652593564e-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": 9.729547855386045e-06, + "observation_loss": 5.312460416462272e-06, + "chamfer": 4.369969246909022e-06, + "track": 9.424909421795746e-07, + "acceleration": 4.4170874389237724e-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": 7.350263786065625e-06, + "observation_loss": 5.710639925382566e-06, + "chamfer": 4.648201411328046e-06, + "track": 1.0624382866808446e-06, + "acceleration": 1.6396237469962216e-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": 6.84706401443691e-06, + "observation_loss": 5.714549388358137e-06, + "chamfer": 4.624177108780714e-06, + "track": 1.0903722795774229e-06, + "acceleration": 1.1325145123919356e-06, + "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": 6.201215001055971e-06, + "observation_loss": 5.597231393039692e-06, + "chamfer": 4.528051704255631e-06, + "track": 1.0691795750972233e-06, + "acceleration": 6.039833806426032e-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": 6.379399565048516e-06, + "observation_loss": 5.415626219473779e-06, + "chamfer": 4.395206815388519e-06, + "track": 1.0204192903984222e-06, + "acceleration": 9.637733455747366e-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": 6.1581827139889356e-06, + "observation_loss": 5.3894982556812465e-06, + "chamfer": 4.395224095787853e-06, + "track": 9.94273932519718e-07, + "acceleration": 7.686844014642702e-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": 5.956244876870187e-06, + "observation_loss": 5.571182100538863e-06, + "chamfer": 4.563959009828977e-06, + "track": 1.0072230907098856e-06, + "acceleration": 3.8506260580106755e-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": 6.264521289267577e-06, + "observation_loss": 5.7648767324280925e-06, + "chamfer": 4.728451585833682e-06, + "track": 1.0364253739680862e-06, + "acceleration": 4.99644443152647e-07, + "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": 6.439075150410645e-06, + "observation_loss": 6.005378054396715e-06, + "chamfer": 4.937944595440058e-06, + "track": 1.0674332315829815e-06, + "acceleration": 4.336971244356391e-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": 6.413461505871965e-06, + "observation_loss": 6.165995728224516e-06, + "chamfer": 5.077922196505824e-06, + "track": 1.088073418031854e-06, + "acceleration": 2.4746591975599586e-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": 6.739499440300278e-06, + "observation_loss": 6.251262220757781e-06, + "chamfer": 5.156491624802584e-06, + "track": 1.0947707096420345e-06, + "acceleration": 4.882370490122412e-07, + "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": 6.907419901835965e-06, + "observation_loss": 6.384000698744785e-06, + "chamfer": 5.269404482532991e-06, + "track": 1.114596216211794e-06, + "acceleration": 5.234192599345988e-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": 6.443205165851396e-06, + "observation_loss": 6.235977252799785e-06, + "chamfer": 5.1499764595064335e-06, + "track": 1.0860006796065136e-06, + "acceleration": 2.0722782778648252e-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": 6.274868610489648e-06, + "observation_loss": 5.957522262178827e-06, + "chamfer": 4.932132014801027e-06, + "track": 1.0253903610646375e-06, + "acceleration": 3.173464619976585e-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": 5.950402737653349e-06, + "observation_loss": 5.772603344667004e-06, + "chamfer": 4.790355433215154e-06, + "track": 9.822480251386878e-07, + "acceleration": 1.777995066731819e-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": 5.855273684574058e-06, + "observation_loss": 5.726114977733232e-06, + "chamfer": 4.7556568461004645e-06, + "track": 9.7045801794593e-07, + "acceleration": 1.291587068408262e-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": 5.922434866079129e-06, + "observation_loss": 5.714972758141812e-06, + "chamfer": 4.746688318846282e-06, + "track": 9.682844392955303e-07, + "acceleration": 2.074622500458645e-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": 5.81252697884338e-06, + "observation_loss": 5.581633104156936e-06, + "chamfer": 4.644129148800857e-06, + "track": 9.375040690429159e-07, + "acceleration": 2.3089387468644418e-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": 5.521520961337956e-06, + "observation_loss": 5.342194526747335e-06, + "chamfer": 4.454675945453346e-06, + "track": 8.875185244505701e-07, + "acceleration": 1.7932664775344165e-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": 5.368011443351861e-06, + "observation_loss": 5.23953258380061e-06, + "chamfer": 4.364959295344306e-06, + "track": 8.745734589865606e-07, + "acceleration": 1.2847887376210565e-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": 5.529569534701295e-06, + "observation_loss": 5.390365913626738e-06, + "chamfer": 4.4698531382891815e-06, + "track": 9.205128890243941e-07, + "acceleration": 1.392037063396856e-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": 6.028853931638878e-06, + "observation_loss": 5.717492058465723e-06, + "chamfer": 4.709720542450668e-06, + "track": 1.00777174338873e-06, + "acceleration": 3.1136173106460774e-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": 6.364854016283061e-06, + "observation_loss": 6.007599495205795e-06, + "chamfer": 4.920661922369618e-06, + "track": 1.0869375728361774e-06, + "acceleration": 3.5725432212529995e-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": 6.405916337826056e-06, + "observation_loss": 6.157588813948678e-06, + "chamfer": 5.035009507992072e-06, + "track": 1.1225793059566058e-06, + "acceleration": 2.4832741019054083e-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": 6.656907316937577e-06, + "observation_loss": 6.156566541903885e-06, + "chamfer": 5.041515578341205e-06, + "track": 1.1150509635626804e-06, + "acceleration": 5.003410024073673e-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": 6.271860911510885e-06, + "observation_loss": 6.065332854632288e-06, + "chamfer": 4.974602688889718e-06, + "track": 1.0907301657425705e-06, + "acceleration": 2.065281989871437e-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": 6.05004152021138e-06, + "observation_loss": 5.987491022096947e-06, + "chamfer": 4.919989805785008e-06, + "track": 1.067501216311939e-06, + "acceleration": 6.255036311131335e-08, + "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": 6.113597009971272e-06, + "observation_loss": 6.06182993578841e-06, + "chamfer": 4.9789027798397e-06, + "track": 1.0829272696355474e-06, + "acceleration": 5.17669427324563e-08, + "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": 6.311299785011215e-06, + "observation_loss": 6.230111011973349e-06, + "chamfer": 5.112319740874227e-06, + "track": 1.11779138478596e-06, + "acceleration": 8.118874461615633e-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": 6.611115168198012e-06, + "observation_loss": 6.494154604297364e-06, + "chamfer": 5.307075298333075e-06, + "track": 1.1870791922774515e-06, + "acceleration": 1.1696035784325431e-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": 6.824734555266332e-06, + "observation_loss": 6.727528671035543e-06, + "chamfer": 5.488410351972561e-06, + "track": 1.239118205376144e-06, + "acceleration": 9.720580607108786e-08, + "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": 7.212688160507241e-06, + "observation_loss": 7.050286058074562e-06, + "chamfer": 5.730300927098142e-06, + "track": 1.3199852446632576e-06, + "acceleration": 1.6240210243267938e-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": 7.393834039248759e-06, + "observation_loss": 7.335631380556151e-06, + "chamfer": 5.940642950008623e-06, + "track": 1.3949886579212034e-06, + "acceleration": 5.820247750421004e-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": 7.760194421280175e-06, + "observation_loss": 7.3976966632471886e-06, + "chamfer": 5.9982626225973945e-06, + "track": 1.3994341543366318e-06, + "acceleration": 3.624974738158926e-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": 7.446936251653824e-06, + "observation_loss": 7.29830571799539e-06, + "chamfer": 5.943352789472556e-06, + "track": 1.35495315589651e-06, + "acceleration": 1.4863039154988655e-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": 7.5651269071386196e-06, + "observation_loss": 7.379353519354481e-06, + "chamfer": 6.010720426274929e-06, + "track": 1.3686329793927143e-06, + "acceleration": 1.857733735732836e-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": 7.976434972079005e-06, + "observation_loss": 7.717838343523908e-06, + "chamfer": 6.254925665416522e-06, + "track": 1.4629126781073865e-06, + "acceleration": 2.5859685592877213e-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": 8.251557119365316e-06, + "observation_loss": 8.070303010754287e-06, + "chamfer": 6.502398719021585e-06, + "track": 1.5679038369853515e-06, + "acceleration": 1.8125373912880605e-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": 8.298455213662237e-06, + "observation_loss": 8.204796358768363e-06, + "chamfer": 6.578454758709995e-06, + "track": 1.626341827432043e-06, + "acceleration": 9.365930964122526e-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": 8.388689821003936e-06, + "observation_loss": 8.343630724994e-06, + "chamfer": 6.668771220574854e-06, + "track": 1.6748593907323084e-06, + "acceleration": 4.5059422859594633e-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": 8.468761734548025e-06, + "observation_loss": 8.391084520553704e-06, + "chamfer": 6.6960292315343395e-06, + "track": 1.695055630079878e-06, + "acceleration": 7.767766874167137e-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": 8.48279978526989e-06, + "observation_loss": 8.387232810491696e-06, + "chamfer": 6.691949693049537e-06, + "track": 1.6952835721895099e-06, + "acceleration": 9.556695346191191e-08, + "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": 8.599092325312085e-06, + "observation_loss": 8.390287803194951e-06, + "chamfer": 6.69048404233763e-06, + "track": 1.6998039882309968e-06, + "acceleration": 2.0880447948457004e-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": 8.885687748261262e-06, + "observation_loss": 8.74893430591328e-06, + "chamfer": 6.934892098797718e-06, + "track": 1.8140425481760758e-06, + "acceleration": 1.3675379761934892e-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": 9.459809007239528e-06, + "observation_loss": 9.376019988849293e-06, + "chamfer": 7.347164228121983e-06, + "track": 2.028855533353635e-06, + "acceleration": 8.378943761044866e-08, + "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": 1.0124971595359966e-05, + "observation_loss": 9.853722076513804e-06, + "chamfer": 7.670135346415918e-06, + "track": 2.183586730097886e-06, + "acceleration": 2.7124912094222964e-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": 9.847745786828455e-06, + "observation_loss": 9.696465895103756e-06, + "chamfer": 7.568508408439811e-06, + "track": 2.1279577140376205e-06, + "acceleration": 1.5127973540529638e-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": 9.552760275255423e-06, + "observation_loss": 9.367537131765857e-06, + "chamfer": 7.365323199337581e-06, + "track": 2.0022141598019516e-06, + "acceleration": 1.852229445375997e-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": 9.146207048615906e-06, + "observation_loss": 9.102093827095814e-06, + "chamfer": 7.1912950261321384e-06, + "track": 1.9107992557110265e-06, + "acceleration": 4.411348086819089e-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": 8.91772833711002e-06, + "observation_loss": 8.869100383890327e-06, + "chamfer": 7.025770173640922e-06, + "track": 1.843330323936243e-06, + "acceleration": 4.862758373747056e-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": 8.871920726960525e-06, + "observation_loss": 8.814307875582017e-06, + "chamfer": 6.979222234804183e-06, + "track": 1.835085527090996e-06, + "acceleration": 5.761273413895651e-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": 8.938616701925639e-06, + "observation_loss": 8.858434739522636e-06, + "chamfer": 7.002675374678802e-06, + "track": 1.8557592511569965e-06, + "acceleration": 8.018162844791732e-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": 8.985814019979443e-06, + "observation_loss": 8.889338459994178e-06, + "chamfer": 7.0218857217696495e-06, + "track": 1.8674528519113665e-06, + "acceleration": 9.647514076505104e-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": 9.07830963114975e-06, + "observation_loss": 8.911214536055923e-06, + "chamfer": 7.017120879027061e-06, + "track": 1.8940938844025368e-06, + "acceleration": 1.6709478245502396e-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": 9.280395715904888e-06, + "observation_loss": 8.960818377090618e-06, + "chamfer": 7.049960458971327e-06, + "track": 1.910857918119291e-06, + "acceleration": 3.195771114405943e-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": 9.76028331933776e-06, + "observation_loss": 9.058114301296882e-06, + "chamfer": 7.094888587744208e-06, + "track": 1.9632252588053234e-06, + "acceleration": 7.021688475106203e-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": 1.0169776942348108e-05, + "observation_loss": 9.186599527311046e-06, + "chamfer": 7.183962679846445e-06, + "track": 2.0026368474646006e-06, + "acceleration": 9.83177869784413e-07, + "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": 9.794001016416587e-06, + "observation_loss": 9.292294635088183e-06, + "chamfer": 7.257889137690654e-06, + "track": 2.0344052700238535e-06, + "acceleration": 5.017063244849851e-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": 9.701070666778833e-06, + "observation_loss": 9.530991519568488e-06, + "chamfer": 7.423005172313424e-06, + "track": 2.1079858925077133e-06, + "acceleration": 1.700794598491484e-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": 9.940500603988767e-06, + "observation_loss": 9.824921107792761e-06, + "chamfer": 7.6070750765211415e-06, + "track": 2.2178458038979443e-06, + "acceleration": 1.1557958856656114e-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": 1.0272127838106826e-05, + "observation_loss": 1.0217484486929607e-05, + "chamfer": 7.85986048867926e-06, + "track": 2.357623770876671e-06, + "acceleration": 5.464294616785992e-08, + "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": 1.0399570783192758e-05, + "observation_loss": 1.0352619028708432e-05, + "chamfer": 7.938282578834333e-06, + "track": 2.4143366772477748e-06, + "acceleration": 4.6951697640906787e-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": 1.0606881005514879e-05, + "observation_loss": 1.0400619430583902e-05, + "chamfer": 7.957281013659667e-06, + "track": 2.4433384169242345e-06, + "acceleration": 2.0626133334644692e-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": 1.0552871572144795e-05, + "observation_loss": 1.0425681466585957e-05, + "chamfer": 7.9373940025107e-06, + "track": 2.488287918822607e-06, + "acceleration": 1.271898355525991e-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": 1.0484768608876038e-05, + "observation_loss": 1.0405521607026458e-05, + "chamfer": 7.89914520282764e-06, + "track": 2.506376404198818e-06, + "acceleration": 7.924673184334097e-08, + "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": 1.053005144058261e-05, + "observation_loss": 1.0274974556523375e-05, + "chamfer": 7.815110620867927e-06, + "track": 2.4598639356554486e-06, + "acceleration": 2.550768272158166e-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": 1.068701567419339e-05, + "observation_loss": 1.006098864309024e-05, + "chamfer": 7.69037342251977e-06, + "track": 2.3706154479441466e-06, + "acceleration": 6.260271447899868e-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": 1.0367952199885622e-05, + "observation_loss": 9.976025467040017e-06, + "chamfer": 7.626084880030248e-06, + "track": 2.3499403596360935e-06, + "acceleration": 3.919270170626987e-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": 1.0097038284584414e-05, + "observation_loss": 9.906254490488209e-06, + "chamfer": 7.57481257096515e-06, + "track": 2.3314414647757076e-06, + "acceleration": 1.9078373725278652e-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": 1.008708932204172e-05, + "observation_loss": 9.868589586403687e-06, + "chamfer": 7.5491898314794526e-06, + "track": 2.3193999822979094e-06, + "acceleration": 2.1849956510777702e-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": 1.0068802112073172e-05, + "observation_loss": 9.935820344253443e-06, + "chamfer": 7.604569418617757e-06, + "track": 2.3312504708883353e-06, + "acceleration": 1.3298202361511358e-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": 1.0087369446409866e-05, + "observation_loss": 1.003361012408277e-05, + "chamfer": 7.665917109989095e-06, + "track": 2.3676927867199993e-06, + "acceleration": 5.375957456976721e-08, + "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": 1.0255485904053785e-05, + "observation_loss": 1.0096999176312238e-05, + "chamfer": 7.674448170291726e-06, + "track": 2.422551233394188e-06, + "acceleration": 1.584866140547092e-07, + "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": 1.0416190889372956e-05, + "observation_loss": 1.0201658369624056e-05, + "chamfer": 7.714897947153077e-06, + "track": 2.4867599677236285e-06, + "acceleration": 2.1453207921240391e-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": 1.0741850928752683e-05, + "observation_loss": 1.0520127034396864e-05, + "chamfer": 7.869851287978236e-06, + "track": 2.650275746418629e-06, + "acceleration": 2.217242496271865e-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": 1.1096861271653324e-05, + "observation_loss": 1.0868430763366632e-05, + "chamfer": 8.04196133685764e-06, + "track": 2.826468971761642e-06, + "acceleration": 2.2843082092549594e-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": 1.1414807886467315e-05, + "observation_loss": 1.123191395890899e-05, + "chamfer": 8.247231562563684e-06, + "track": 2.9846826237189816e-06, + "acceleration": 1.8289387071490637e-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": 1.151352989836596e-05, + "observation_loss": 1.1411107152525801e-05, + "chamfer": 8.332341167260893e-06, + "track": 3.078765757891233e-06, + "acceleration": 1.0242263215332059e-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": 1.1884945706697181e-05, + "observation_loss": 1.1634817383310292e-05, + "chamfer": 8.472900844935793e-06, + "track": 3.161916311000823e-06, + "acceleration": 2.501281812783418e-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": 1.2196683201182168e-05, + "observation_loss": 1.197538040287327e-05, + "chamfer": 8.682618499733508e-06, + "track": 3.292761675766087e-06, + "acceleration": 2.2130285515231662e-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": 1.2313925253693014e-05, + "observation_loss": 1.2232226254127454e-05, + "chamfer": 8.825914846966043e-06, + "track": 3.406311407161411e-06, + "acceleration": 8.169868692675664e-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": 1.2426846296875738e-05, + "observation_loss": 1.235178206115961e-05, + "chamfer": 8.884389899321832e-06, + "track": 3.4673923892114544e-06, + "acceleration": 7.506388755018634e-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": 1.2496006092987955e-05, + "observation_loss": 1.2424570741131902e-05, + "chamfer": 8.933570825320203e-06, + "track": 3.490999915811699e-06, + "acceleration": 7.143511027152272e-08, + "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": 1.2500549928518012e-05, + "observation_loss": 1.2433181836968288e-05, + "chamfer": 8.91282434167806e-06, + "track": 3.5203574952902272e-06, + "acceleration": 6.736853208622051e-08, + "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": 1.2493421309045516e-05, + "observation_loss": 1.2448314009816386e-05, + "chamfer": 8.898207852325868e-06, + "track": 3.5501063848641934e-06, + "acceleration": 4.5107515944664556e-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": 1.2558540220197756e-05, + "observation_loss": 1.2425002751115244e-05, + "chamfer": 8.889841410564259e-06, + "track": 3.535161340550985e-06, + "acceleration": 1.3353739802823839e-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": 1.2533497283584438e-05, + "observation_loss": 1.2398767466947902e-05, + "chamfer": 8.875065759639256e-06, + "track": 3.5237017073086463e-06, + "acceleration": 1.3473000137764757e-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": 1.239074845216237e-05, + "observation_loss": 1.2375778169371188e-05, + "chamfer": 8.847583558235783e-06, + "track": 3.5281941563880537e-06, + "acceleration": 1.497039470166328e-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": 1.2394738405419048e-05, + "observation_loss": 1.234145020134747e-05, + "chamfer": 8.814746252028272e-06, + "track": 3.5267037219455233e-06, + "acceleration": 5.328825025685546e-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": 1.2445560059859417e-05, + "observation_loss": 1.232079739565961e-05, + "chamfer": 8.793223059910815e-06, + "track": 3.52757410837512e-06, + "acceleration": 1.2476283473006333e-07, + "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": 1.233923376275925e-05, + "observation_loss": 1.2220885764691047e-05, + "chamfer": 8.736992640479002e-06, + "track": 3.4838926694646943e-06, + "acceleration": 1.183478275379457e-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": 1.209458878292935e-05, + "observation_loss": 1.2059376786055509e-05, + "chamfer": 8.650950803712476e-06, + "track": 3.408425982343033e-06, + "acceleration": 3.521201819012276e-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": 9.398924134984554e-06, + "chamfer_mean": 6.502872577603587e-06, + "track_mean": 1.8759826332370722e-06, + "acceleration_mean": 1.0200688869329195e-06, + "observation_score": 8.378855225051515e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4306958300003316 + }, + "score_arrays_file": "pass_scores/pass_end_0146.npz", + "score_arrays_sha256": "86d00bbd90f4ec0aa98aff11fac088658072d2f99561961677aa1d5d06c2672a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0147.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0147.json new file mode 100644 index 0000000000000000000000000000000000000000..007af14a74141ee17e37534d91578d17609025e8 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0147.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14112, + "completed_passes": 147, + "snapshot": "pass_end_0147", + "candidate": true, + "snapshot_arrays_sha256": "354a5c26ea1ea32f7993a7929b5b63b453c66e7e7bc3e768dfefedac821b282c", + "score": 8.366950244938684e-06, + "score_result": { + "score": 8.366950244938684e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9520942916860804e-06, + 3.2877305784495547e-06, + 3.663864845293574e-06, + 4.456604983715806e-06, + 5.294603852235014e-06, + 5.691129445040133e-06, + 5.691575097444002e-06, + 5.5758496273483615e-06, + 5.396198503149208e-06, + 5.371669431042392e-06, + 5.5554464779561386e-06, + 5.750887339672772e-06, + 5.990574663883308e-06, + 6.150859007902909e-06, + 6.233100521058077e-06, + 6.365075478242943e-06, + 6.21690696789301e-06, + 5.9391691138444e-06, + 5.754486664955039e-06, + 5.70633301322232e-06, + 5.693007551599294e-06, + 5.557993063121103e-06, + 5.319900083122775e-06, + 5.219272679823916e-06, + 5.367824542190647e-06, + 5.692814283975167e-06, + 5.983616574667394e-06, + 6.134120212664129e-06, + 6.135778676252812e-06, + 6.047725037205964e-06, + 5.970446636638371e-06, + 6.044172550900839e-06, + 6.213860160642071e-06, + 6.4772307268867735e-06, + 6.708979526592884e-06, + 7.031168024695944e-06, + 7.31590125724324e-06, + 7.377466772595653e-06, + 7.275730240507983e-06, + 7.352066404564539e-06, + 7.688515324844047e-06, + 8.041169166972395e-06, + 8.176456503861118e-06, + 8.315168088302016e-06, + 8.364276254724246e-06, + 8.361323125427589e-06, + 8.365873327420559e-06, + 8.725959560251795e-06, + 9.354022040497512e-06, + 9.832875548454467e-06, + 9.676539775682613e-06, + 9.348658750241157e-06, + 9.083176337298937e-06, + 8.851902748574503e-06, + 8.796732799964957e-06, + 8.840830560075119e-06, + 8.872110811353195e-06, + 8.894900929590221e-06, + 8.944750334194396e-06, + 9.042754754773341e-06, + 9.172883437713608e-06, + 9.281677193939686e-06, + 9.523617336526513e-06, + 9.822966603678651e-06, + 1.0220039257546887e-05, + 1.0359708539908752e-05, + 1.0411852599645499e-05, + 1.0441774975333828e-05, + 1.0424348147353157e-05, + 1.0293320883647539e-05, + 1.007893297355622e-05, + 9.994508218369447e-06, + 9.92279910860816e-06, + 9.878353012027219e-06, + 9.942547876562458e-06, + 1.0039044354925863e-05, + 1.0099556675413623e-05, + 1.020055788103491e-05, + 1.0516542715777177e-05, + 1.0862034287129063e-05, + 1.1225458365515806e-05, + 1.1404977158235852e-05, + 1.1627623280219268e-05, + 1.1967765203735325e-05, + 1.2225074897287413e-05, + 1.2347049050731584e-05, + 1.2420667189871892e-05, + 1.2428954505594447e-05, + 1.244366376340622e-05, + 1.2419779523042962e-05, + 1.239388257090468e-05, + 1.2369627256703097e-05, + 1.2336671716184355e-05, + 1.2315901585679967e-05, + 1.221599359269021e-05, + 1.2055836123181507e-05 + ] + ], + "episode_mean_losses": [ + 8.366950244938684e-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": 2.9520942916860804e-06, + "observation_loss": 2.9520942916860804e-06, + "chamfer": 2.503870518921758e-06, + "track": 4.482237443426129e-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": 4.3675761844497174e-05, + "observation_loss": 3.2877305784495547e-06, + "chamfer": 2.7813218821393093e-06, + "track": 5.064086963102454e-07, + "acceleration": 4.0388029447058216e-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": 2.6326610168325715e-05, + "observation_loss": 3.663864845293574e-06, + "chamfer": 3.093807208642829e-06, + "track": 5.700575229639071e-07, + "acceleration": 2.266274532303214e-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": 1.2423812222550623e-05, + "observation_loss": 4.456604983715806e-06, + "chamfer": 3.7228210203466006e-06, + "track": 7.337837359955302e-07, + "acceleration": 7.967207238834817e-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": 9.716167369333562e-06, + "observation_loss": 5.294603852235014e-06, + "chamfer": 4.3571317291934974e-06, + "track": 9.374719525112596e-07, + "acceleration": 4.421563517098548e-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": 7.329540039791027e-06, + "observation_loss": 5.691129445040133e-06, + "chamfer": 4.635391633200925e-06, + "track": 1.055737811839208e-06, + "acceleration": 1.6384104810640565e-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": 6.817694156779908e-06, + "observation_loss": 5.691575097444002e-06, + "chamfer": 4.60892397313728e-06, + "track": 1.0826510106198839e-06, + "acceleration": 1.1261188319622306e-06, + "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": 6.18273679720005e-06, + "observation_loss": 5.5758496273483615e-06, + "chamfer": 4.514056399784749e-06, + "track": 1.0617933412504499e-06, + "acceleration": 6.068872266951075e-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": 6.358765858749393e-06, + "observation_loss": 5.396198503149208e-06, + "chamfer": 4.382491169963032e-06, + "track": 1.0137071058125002e-06, + "acceleration": 9.625674692870234e-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": 6.132275302661583e-06, + "observation_loss": 5.371669431042392e-06, + "chamfer": 4.3833665586134885e-06, + "track": 9.883027587420656e-07, + "acceleration": 7.606056442455156e-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": 5.938746653555427e-06, + "observation_loss": 5.5554464779561386e-06, + "chamfer": 4.553306098387111e-06, + "track": 1.0021401521953521e-06, + "acceleration": 3.833000903341599e-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": 6.248195859370753e-06, + "observation_loss": 5.750887339672772e-06, + "chamfer": 4.718938271253137e-06, + "track": 1.0319489547327976e-06, + "acceleration": 4.973084628545621e-07, + "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": 6.408194622053998e-06, + "observation_loss": 5.990574663883308e-06, + "chamfer": 4.927564077661373e-06, + "track": 1.0630105862219352e-06, + "acceleration": 4.1761975921872363e-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": 6.401583959814161e-06, + "observation_loss": 6.150859007902909e-06, + "chamfer": 5.067202891950728e-06, + "track": 1.083656002265343e-06, + "acceleration": 2.507247813809954e-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": 6.73671456752345e-06, + "observation_loss": 6.233100521058077e-06, + "chamfer": 5.143225280335173e-06, + "track": 1.0898751270360663e-06, + "acceleration": 5.036142169956292e-07, + "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": 6.879527973069344e-06, + "observation_loss": 6.365075478242943e-06, + "chamfer": 5.25533778272802e-06, + "track": 1.1097378092017607e-06, + "acceleration": 5.144526085132384e-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": 6.422232218028512e-06, + "observation_loss": 6.21690696789301e-06, + "chamfer": 5.135646460985299e-06, + "track": 1.0812606205945485e-06, + "acceleration": 2.0532503697268112e-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": 6.260445843508933e-06, + "observation_loss": 5.9391691138444e-06, + "chamfer": 4.9180043788510375e-06, + "track": 1.021164621306525e-06, + "acceleration": 3.212768433513702e-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": 5.9332242017262615e-06, + "observation_loss": 5.754486664955039e-06, + "chamfer": 4.776121841132408e-06, + "track": 9.783647101357928e-07, + "acceleration": 1.7873756519293238e-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": 5.836183845531195e-06, + "observation_loss": 5.70633301322232e-06, + "chamfer": 4.740014901472023e-06, + "track": 9.663181117502972e-07, + "acceleration": 1.2985061914605467e-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": 5.9024837355536874e-06, + "observation_loss": 5.693007551599294e-06, + "chamfer": 4.729320608021226e-06, + "track": 9.636868298912304e-07, + "acceleration": 2.094762834303765e-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": 5.792214778921334e-06, + "observation_loss": 5.557993063121103e-06, + "chamfer": 4.625248948286753e-06, + "track": 9.327441148343496e-07, + "acceleration": 2.3422164474595775e-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": 5.498150130733848e-06, + "observation_loss": 5.319900083122775e-06, + "chamfer": 4.436689778231084e-06, + "track": 8.832103617351095e-07, + "acceleration": 1.782500902436368e-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": 5.34769151272485e-06, + "observation_loss": 5.219272679823916e-06, + "chamfer": 4.348596576164709e-06, + "track": 8.706762173460447e-07, + "acceleration": 1.2841901764204522e-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": 5.507501100510126e-06, + "observation_loss": 5.367824542190647e-06, + "chamfer": 4.45173373009311e-06, + "track": 9.160906984106987e-07, + "acceleration": 1.396765298977698e-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": 6.005034265399445e-06, + "observation_loss": 5.692814283975167e-06, + "chamfer": 4.690208697866183e-06, + "track": 1.0026056997958221e-06, + "acceleration": 3.1221986773743993e-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": 6.341552307276288e-06, + "observation_loss": 5.983616574667394e-06, + "chamfer": 4.901873580820393e-06, + "track": 1.0817428801601636e-06, + "acceleration": 3.579357326088939e-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": 6.38335677649593e-06, + "observation_loss": 6.134120212664129e-06, + "chamfer": 5.016439445171272e-06, + "track": 1.1176806538060191e-06, + "acceleration": 2.492366490969289e-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": 6.637067599513102e-06, + "observation_loss": 6.135778676252812e-06, + "chamfer": 5.02516422784538e-06, + "track": 1.110614448407432e-06, + "acceleration": 5.012888095734525e-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": 6.252106231841026e-06, + "observation_loss": 6.047725037205964e-06, + "chamfer": 4.960720616509207e-06, + "track": 1.08700430700992e-06, + "acceleration": 2.0438135095446341e-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": 6.033813406247646e-06, + "observation_loss": 5.970446636638371e-06, + "chamfer": 4.906478352495469e-06, + "track": 1.0639682841429021e-06, + "acceleration": 6.33665919735904e-08, + "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": 6.096863216953352e-06, + "observation_loss": 6.044172550900839e-06, + "chamfer": 4.964569143339759e-06, + "track": 1.079603634934756e-06, + "acceleration": 5.269047775868785e-08, + "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": 6.297512754827039e-06, + "observation_loss": 6.213860160642071e-06, + "chamfer": 5.099084319226677e-06, + "track": 1.1147759551022318e-06, + "acceleration": 8.365270787180634e-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": 6.5946628637902904e-06, + "observation_loss": 6.4772307268867735e-06, + "chamfer": 5.293436061037937e-06, + "track": 1.1837945521619986e-06, + "acceleration": 1.1743230032834617e-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": 6.806941200920846e-06, + "observation_loss": 6.708979526592884e-06, + "chamfer": 5.4735819503548555e-06, + "track": 1.235397462551191e-06, + "acceleration": 9.79616245899706e-08, + "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": 7.194718364189612e-06, + "observation_loss": 7.031168024695944e-06, + "chamfer": 5.715251973015256e-06, + "track": 1.3159158243070124e-06, + "acceleration": 1.6355031107195828e-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": 7.374446795438416e-06, + "observation_loss": 7.31590125724324e-06, + "chamfer": 5.925291134190047e-06, + "track": 1.390610123053193e-06, + "acceleration": 5.8545552406030765e-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": 7.7392260209308e-06, + "observation_loss": 7.377466772595653e-06, + "chamfer": 5.982636139378883e-06, + "track": 1.3948305195299326e-06, + "acceleration": 3.617589072746341e-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": 7.424791874655057e-06, + "observation_loss": 7.275730240507983e-06, + "chamfer": 5.925904133619042e-06, + "track": 1.3498261068889406e-06, + "acceleration": 1.4906143519510806e-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": 7.537284545833245e-06, + "observation_loss": 7.352066404564539e-06, + "chamfer": 5.98955466557527e-06, + "track": 1.3625116253024316e-06, + "acceleration": 1.8521804179272294e-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": 7.946935511427e-06, + "observation_loss": 7.688515324844047e-06, + "chamfer": 6.232653049664805e-06, + "track": 1.4558625025529182e-06, + "acceleration": 2.58420072896115e-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": 8.222807991842274e-06, + "observation_loss": 8.041169166972395e-06, + "chamfer": 6.480449883383699e-06, + "track": 1.5607189425281831e-06, + "acceleration": 1.8163844117680128e-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": 8.269882528111339e-06, + "observation_loss": 8.176456503861118e-06, + "chamfer": 6.557208507729229e-06, + "track": 1.6192481098187272e-06, + "acceleration": 9.34259247742375e-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": 8.360280844499357e-06, + "observation_loss": 8.315168088302016e-06, + "chamfer": 6.647547252214281e-06, + "track": 1.6676210634614108e-06, + "acceleration": 4.5112965807447836e-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": 8.442051694146357e-06, + "observation_loss": 8.364276254724246e-06, + "chamfer": 6.676168140984373e-06, + "track": 1.6881077726793592e-06, + "acceleration": 7.777526889185538e-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": 8.457317562715616e-06, + "observation_loss": 8.361323125427589e-06, + "chamfer": 6.672686595265986e-06, + "track": 1.6886364164747647e-06, + "acceleration": 9.599470729426685e-08, + "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": 8.574341336498037e-06, + "observation_loss": 8.365873327420559e-06, + "chamfer": 6.672339168289909e-06, + "track": 1.6935339317569742e-06, + "acceleration": 2.0846768222781975e-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": 8.863076800480485e-06, + "observation_loss": 8.725959560251795e-06, + "chamfer": 6.9179518504824955e-06, + "track": 1.8080074823956238e-06, + "acceleration": 1.3711755286749394e-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": 9.437420885660686e-06, + "observation_loss": 9.354022040497512e-06, + "chamfer": 7.331133929255884e-06, + "track": 2.0228881112416275e-06, + "acceleration": 8.339875279261832e-08, + "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": 1.0104690773005132e-05, + "observation_loss": 9.832875548454467e-06, + "chamfer": 7.655124136363156e-06, + "track": 2.1777511847176356e-06, + "acceleration": 2.7181505402040784e-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": 9.828921065491159e-06, + "observation_loss": 9.676539775682613e-06, + "chamfer": 7.554073818027973e-06, + "track": 2.122465502907289e-06, + "acceleration": 1.5238155981478485e-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": 9.535227945889346e-06, + "observation_loss": 9.348658750241157e-06, + "chamfer": 7.351597560045775e-06, + "track": 1.997061417569057e-06, + "acceleration": 1.8656913880477077e-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": 9.127779776463285e-06, + "observation_loss": 9.083176337298937e-06, + "chamfer": 7.177431143645663e-06, + "track": 1.9057456484006252e-06, + "acceleration": 4.46038654899894e-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": 8.900402463041246e-06, + "observation_loss": 8.851902748574503e-06, + "chamfer": 7.013417416601442e-06, + "track": 1.8384851045993855e-06, + "acceleration": 4.849956170005498e-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": 8.85380995896412e-06, + "observation_loss": 8.796732799964957e-06, + "chamfer": 6.966614364500856e-06, + "track": 1.830118435464101e-06, + "acceleration": 5.7077105708458475e-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": 8.952343705459498e-06, + "observation_loss": 8.840830560075119e-06, + "chamfer": 6.990197107370477e-06, + "track": 1.8506337937651551e-06, + "acceleration": 1.1151337275805417e-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": 9.081924872589298e-06, + "observation_loss": 8.872110811353195e-06, + "chamfer": 7.009746695985086e-06, + "track": 1.8623638879944338e-06, + "acceleration": 2.0981372017558897e-07, + "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": 9.091141691897064e-06, + "observation_loss": 8.894900929590221e-06, + "chamfer": 7.005725819908548e-06, + "track": 1.8891749959948356e-06, + "acceleration": 1.9624113178906555e-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": 9.266159395338036e-06, + "observation_loss": 8.944750334194396e-06, + "chamfer": 7.0386563493229914e-06, + "track": 1.9060939848714042e-06, + "acceleration": 3.214095158909913e-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": 9.747531294124201e-06, + "observation_loss": 9.042754754773341e-06, + "chamfer": 7.084402568580117e-06, + "track": 1.958352186193224e-06, + "acceleration": 7.047765961942787e-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": 1.0160008969251066e-05, + "observation_loss": 9.172883437713608e-06, + "chamfer": 7.174758593464503e-06, + "track": 1.998125298996456e-06, + "acceleration": 9.871259862848092e-07, + "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": 9.786535883904435e-06, + "observation_loss": 9.281677193939686e-06, + "chamfer": 7.250883754750248e-06, + "track": 2.0307932118157623e-06, + "acceleration": 5.048589741818432e-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": 9.695490916783456e-06, + "observation_loss": 9.523617336526513e-06, + "chamfer": 7.41817575544701e-06, + "track": 2.105441808453179e-06, + "acceleration": 1.7187375078719924e-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": 9.94017955235904e-06, + "observation_loss": 9.822966603678651e-06, + "chamfer": 7.606026883877348e-06, + "track": 2.216939719801303e-06, + "acceleration": 1.1721335368974906e-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": 1.0274845408275723e-05, + "observation_loss": 1.0220039257546887e-05, + "chamfer": 7.861890480853617e-06, + "track": 2.3581492314406205e-06, + "acceleration": 5.4806303495524844e-08, + "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": 1.040693314280361e-05, + "observation_loss": 1.0359708539908752e-05, + "chamfer": 7.943415766931139e-06, + "track": 2.416292772977613e-06, + "acceleration": 4.722453894601131e-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": 1.0619520253385417e-05, + "observation_loss": 1.0411852599645499e-05, + "chamfer": 7.965255463204812e-06, + "track": 2.446597136440687e-06, + "acceleration": 2.076674405770973e-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": 1.0570117410679813e-05, + "observation_loss": 1.0441774975333828e-05, + "chamfer": 7.949128303152975e-06, + "track": 2.4926468995545292e-06, + "acceleration": 1.283422648157284e-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": 1.0504159035917837e-05, + "observation_loss": 1.0424348147353157e-05, + "chamfer": 7.912798537290655e-06, + "track": 2.511549382688827e-06, + "acceleration": 7.981089567010713e-08, + "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": 1.054850872606039e-05, + "observation_loss": 1.0293320883647539e-05, + "chamfer": 7.828146408428438e-06, + "track": 2.4651749299664516e-06, + "acceleration": 2.5518764346088574e-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": 1.0702863619371783e-05, + "observation_loss": 1.007893297355622e-05, + "chamfer": 7.702652510488406e-06, + "track": 2.376280008320464e-06, + "acceleration": 6.239305321287247e-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": 1.0381811080151238e-05, + "observation_loss": 9.994508218369447e-06, + "chamfer": 7.638872375537176e-06, + "track": 2.3556356154585956e-06, + "acceleration": 3.8730286178179085e-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": 1.0109805771207903e-05, + "observation_loss": 9.92279910860816e-06, + "chamfer": 7.585931598441675e-06, + "track": 2.336867510166485e-06, + "acceleration": 1.8700681891914428e-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": 1.0130595001101028e-05, + "observation_loss": 9.878353012027219e-06, + "chamfer": 7.554854619229445e-06, + "track": 2.323497938050423e-06, + "acceleration": 2.522422448691941e-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": 1.0091483090945985e-05, + "observation_loss": 9.942547876562458e-06, + "chamfer": 7.6085289038019255e-06, + "track": 2.3340187453868566e-06, + "acceleration": 1.4893524280523707e-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": 1.0096522601088509e-05, + "observation_loss": 1.0039044354925863e-05, + "chamfer": 7.669103069929406e-06, + "track": 2.3699412849964574e-06, + "acceleration": 5.74778802331366e-08, + "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": 1.026523568725679e-05, + "observation_loss": 1.0099556675413623e-05, + "chamfer": 7.675945198570844e-06, + "track": 2.4236114768427797e-06, + "acceleration": 1.656791681625691e-07, + "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": 1.0418149940960575e-05, + "observation_loss": 1.020055788103491e-05, + "chamfer": 7.714224921073765e-06, + "track": 2.4863331873348216e-06, + "acceleration": 2.1759244361874153e-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": 1.0738654964370653e-05, + "observation_loss": 1.0516542715777177e-05, + "chamfer": 7.868038665037602e-06, + "track": 2.6485042781132506e-06, + "acceleration": 2.2211251859971526e-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": 1.1087154234701302e-05, + "observation_loss": 1.0862034287129063e-05, + "chamfer": 8.038245141506195e-06, + "track": 2.8237893729965435e-06, + "acceleration": 2.2511969177685387e-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": 1.1401664778531995e-05, + "observation_loss": 1.1225458365515806e-05, + "chamfer": 8.243422598752659e-06, + "track": 2.982035312015796e-06, + "acceleration": 1.7620683934183035e-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": 1.1505557267810218e-05, + "observation_loss": 1.1404977158235852e-05, + "chamfer": 8.328899639309384e-06, + "track": 3.0760772915527923e-06, + "acceleration": 1.005802374720588e-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": 1.1880072634085082e-05, + "observation_loss": 1.1627623280219268e-05, + "chamfer": 8.468783562420867e-06, + "track": 3.1588394904247252e-06, + "acceleration": 2.524488991184626e-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": 1.2188453183625825e-05, + "observation_loss": 1.1967765203735325e-05, + "chamfer": 8.67883863975294e-06, + "track": 3.288926563982386e-06, + "acceleration": 2.2068815042075585e-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": 1.2307925317145418e-05, + "observation_loss": 1.2225074897287413e-05, + "chamfer": 8.822744348435663e-06, + "track": 3.402330548851751e-06, + "acceleration": 8.285049801770583e-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": 1.2422567124303896e-05, + "observation_loss": 1.2347049050731584e-05, + "chamfer": 8.882524525688495e-06, + "track": 3.4645247524167644e-06, + "acceleration": 7.551815883743984e-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": 1.2490975677792449e-05, + "observation_loss": 1.2420667189871892e-05, + "chamfer": 8.932426680985373e-06, + "track": 3.4882407362601953e-06, + "acceleration": 7.030890003534296e-08, + "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": 1.2496786439442076e-05, + "observation_loss": 1.2428954505594447e-05, + "chamfer": 8.911783879739232e-06, + "track": 3.517170171107864e-06, + "acceleration": 6.783152173284179e-08, + "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": 1.2489388609537855e-05, + "observation_loss": 1.244366376340622e-05, + "chamfer": 8.896769941202365e-06, + "track": 3.5468935948301805e-06, + "acceleration": 4.5724824815351894e-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": 1.2555363355204463e-05, + "observation_loss": 1.2419779523042962e-05, + "chamfer": 8.887970579962712e-06, + "track": 3.5318084883328993e-06, + "acceleration": 1.3558411637859535e-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": 1.2529595551313832e-05, + "observation_loss": 1.239388257090468e-05, + "chamfer": 8.873392289387994e-06, + "track": 3.5204900541430106e-06, + "acceleration": 1.357131509394094e-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": 1.2384369256324135e-05, + "observation_loss": 1.2369627256703097e-05, + "chamfer": 8.844948752084747e-06, + "track": 3.5246785046183504e-06, + "acceleration": 1.4742172815829235e-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": 1.238992263097316e-05, + "observation_loss": 1.2336671716184355e-05, + "chamfer": 8.812998203211464e-06, + "track": 3.5236735129728913e-06, + "acceleration": 5.325069807327054e-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": 1.244085706275655e-05, + "observation_loss": 1.2315901585679967e-05, + "chamfer": 8.79144045029534e-06, + "track": 3.5244611353846267e-06, + "acceleration": 1.249554628657279e-07, + "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": 1.2334503480815329e-05, + "observation_loss": 1.221599359269021e-05, + "chamfer": 8.735129995329771e-06, + "track": 3.480863824734115e-06, + "acceleration": 1.1850983838712636e-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": 1.209137735713739e-05, + "observation_loss": 1.2055836123181507e-05, + "chamfer": 8.64997309690807e-06, + "track": 3.4058627988997614e-06, + "acceleration": 3.554111316361741e-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": 9.388020108265968e-06, + "chamfer_mean": 6.494212267208847e-06, + "track_mean": 1.8727379348012125e-06, + "acceleration_mean": 1.0210698564346494e-06, + "observation_score": 8.366950244938684e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4589027029996942 + }, + "score_arrays_file": "pass_scores/pass_end_0147.npz", + "score_arrays_sha256": "a6797c364ab202a185fb5fc07ea86229cca33262a96d55f3f8ea1de273c24eb8" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0148.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0148.json new file mode 100644 index 0000000000000000000000000000000000000000..e65191864e2bb05e1cebe2f362d46900e6068851 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0148.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14208, + "completed_passes": 148, + "snapshot": "pass_end_0148", + "candidate": true, + "snapshot_arrays_sha256": "51af73f9b3b98b90f9deeca7bfa9d7e16f40532805a814cd2765164bc26f03d0", + "score": 8.355468092228572e-06, + "score_result": { + "score": 8.355468092228572e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9516418180719484e-06, + 3.2850007301021833e-06, + 3.6590686249837745e-06, + 4.442979843588546e-06, + 5.2768928071600385e-06, + 5.671487542713294e-06, + 5.669219717674423e-06, + 5.554474682867294e-06, + 5.3767007557326e-06, + 5.354120730771683e-06, + 5.540031452255789e-06, + 5.7370475587958936e-06, + 5.9760450312751345e-06, + 6.135985131550115e-06, + 6.214879249455407e-06, + 6.345978363242466e-06, + 6.197820766828954e-06, + 5.920564944972284e-06, + 5.73649185753311e-06, + 5.686660188075621e-06, + 5.671166491083568e-06, + 5.53497875444009e-06, + 5.297907591739204e-06, + 5.199087354412768e-06, + 5.344968030840391e-06, + 5.6673029575904366e-06, + 5.95839082961902e-06, + 6.110160938987974e-06, + 6.1154300965426955e-06, + 6.03008129473892e-06, + 5.953329946351005e-06, + 6.026493792887777e-06, + 6.197793481987901e-06, + 6.4599516917951405e-06, + 6.690103873552289e-06, + 7.011537036305526e-06, + 7.29546854927321e-06, + 7.3565825005061924e-06, + 7.252836894622305e-06, + 7.323641057155328e-06, + 7.657774403924122e-06, + 8.010467354324646e-06, + 8.14589384390274e-06, + 8.283273018605541e-06, + 8.332824108947534e-06, + 8.330976925208233e-06, + 8.33788999443641e-06, + 8.69895848154556e-06, + 9.327962288807612e-06, + 9.807258720684331e-06, + 9.652522749092896e-06, + 9.326185136160348e-06, + 9.061041055247188e-06, + 8.831878403725568e-06, + 8.776854883763008e-06, + 8.820984476187732e-06, + 8.853367944539059e-06, + 8.8770375441527e-06, + 8.92814205144532e-06, + 9.027208761835936e-06, + 9.15927466849098e-06, + 9.271113412978593e-06, + 9.516095815342851e-06, + 9.820576451602392e-06, + 1.02224566944642e-05, + 1.0367204595240764e-05, + 1.042442636389751e-05, + 1.045984299707925e-05, + 1.0446908163430635e-05, + 1.0315239705960266e-05, + 1.0099925930262543e-05, + 1.0015935004048515e-05, + 9.942907126969658e-06, + 9.891013178275898e-06, + 9.9544195109047e-06, + 1.0048825970443431e-05, + 1.010685446090065e-05, + 1.0203631973126903e-05, + 1.0516245311009698e-05, + 1.0858563655347098e-05, + 1.1221334716537967e-05, + 1.1401802112231962e-05, + 1.1623558748397045e-05, + 1.1963291399297304e-05, + 1.2221182259963825e-05, + 1.234349201695295e-05, + 1.2417479410942178e-05, + 1.2428405170794576e-05, + 1.2441373655747157e-05, + 1.241858808498364e-05, + 1.2392095413815696e-05, + 1.2369348041829653e-05, + 1.233496095665032e-05, + 1.2315552339714486e-05, + 1.2215400602144655e-05, + 1.2056803825544193e-05 + ] + ], + "episode_mean_losses": [ + 8.355468092228572e-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": 2.9516418180719484e-06, + "observation_loss": 2.9516418180719484e-06, + "chamfer": 2.5034967165993294e-06, + "track": 4.4814504462920013e-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": 4.3601605284493417e-05, + "observation_loss": 3.2850007301021833e-06, + "chamfer": 2.7790165404439904e-06, + "track": 5.059843033450306e-07, + "acceleration": 4.0316605009138584e-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": 2.626476089062635e-05, + "observation_loss": 3.6590686249837745e-06, + "chamfer": 3.0899379908078117e-06, + "track": 5.691307478628005e-07, + "acceleration": 2.2605692720389925e-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": 1.2392375538183842e-05, + "observation_loss": 4.442979843588546e-06, + "chamfer": 3.712328634719597e-06, + "track": 7.306512088689487e-07, + "acceleration": 7.949395694595296e-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": 9.70107976172585e-06, + "observation_loss": 5.2768928071600385e-06, + "chamfer": 4.344393801147817e-06, + "track": 9.324989491688029e-07, + "acceleration": 4.424186499818461e-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": 7.307162832148606e-06, + "observation_loss": 5.671487542713294e-06, + "chamfer": 4.622353571903659e-06, + "track": 1.0491339708096348e-06, + "acceleration": 1.6356752894353122e-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": 6.78834703649045e-06, + "observation_loss": 5.669219717674423e-06, + "chamfer": 4.594146957970224e-06, + "track": 1.075072646017361e-06, + "acceleration": 1.119127205129189e-06, + "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": 6.163286343507934e-06, + "observation_loss": 5.554474682867294e-06, + "chamfer": 4.499991518969182e-06, + "track": 1.05448327758495e-06, + "acceleration": 6.088115469538025e-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": 6.335988018690841e-06, + "observation_loss": 5.3767007557326e-06, + "chamfer": 4.369651833258104e-06, + "track": 1.0070491498481715e-06, + "acceleration": 9.592872629582416e-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": 6.105703505454585e-06, + "observation_loss": 5.354120730771683e-06, + "chamfer": 4.371684553916566e-06, + "track": 9.824359494814416e-07, + "acceleration": 7.515827746829018e-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": 5.92177366343094e-06, + "observation_loss": 5.540031452255789e-06, + "chamfer": 4.542881015368039e-06, + "track": 9.971504368877504e-07, + "acceleration": 3.817423532836983e-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": 6.233127351151779e-06, + "observation_loss": 5.7370475587958936e-06, + "chamfer": 4.7094836190808564e-06, + "track": 1.0275638260281994e-06, + "acceleration": 4.960797923558857e-07, + "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": 6.377690169756534e-06, + "observation_loss": 5.9760450312751345e-06, + "chamfer": 4.9174032028531656e-06, + "track": 1.0586416010482935e-06, + "acceleration": 4.0164505321627075e-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": 6.391891929524718e-06, + "observation_loss": 6.135985131550115e-06, + "chamfer": 5.056686859461479e-06, + "track": 1.0792984994623112e-06, + "acceleration": 2.5590662744434667e-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": 6.7345040406507906e-06, + "observation_loss": 6.214879249455407e-06, + "chamfer": 5.12992210133234e-06, + "track": 1.0849570344362292e-06, + "acceleration": 5.196246206651267e-07, + "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": 6.848652446933556e-06, + "observation_loss": 6.345978363242466e-06, + "chamfer": 5.241154212853871e-06, + "track": 1.104824036701757e-06, + "acceleration": 5.026743110647658e-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": 6.401953669410432e-06, + "observation_loss": 6.197820766828954e-06, + "chamfer": 5.121348749526078e-06, + "track": 1.0764719036160386e-06, + "acceleration": 2.0413274626207567e-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": 6.246626071515493e-06, + "observation_loss": 5.920564944972284e-06, + "chamfer": 4.903714852844132e-06, + "track": 1.0168503195018275e-06, + "acceleration": 3.2606092759124294e-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": 5.917000180488685e-06, + "observation_loss": 5.73649185753311e-06, + "chamfer": 4.762018761539366e-06, + "track": 9.744729823069065e-07, + "acceleration": 1.805082945338654e-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": 5.818011686642421e-06, + "observation_loss": 5.686660188075621e-06, + "chamfer": 4.7244511733879335e-06, + "track": 9.622089010008494e-07, + "acceleration": 1.3135129961483472e-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": 5.88277589486097e-06, + "observation_loss": 5.671166491083568e-06, + "chamfer": 4.7120506678766105e-06, + "track": 9.591157095201197e-07, + "acceleration": 2.116095032533849e-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": 5.773654265794903e-06, + "observation_loss": 5.53497875444009e-06, + "chamfer": 4.606873062584782e-06, + "track": 9.281057486987265e-07, + "acceleration": 2.386756250416511e-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": 5.475395937537542e-06, + "observation_loss": 5.297907591739204e-06, + "chamfer": 4.418950993567705e-06, + "track": 8.789565981714986e-07, + "acceleration": 1.7748855896115856e-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": 5.327981853042729e-06, + "observation_loss": 5.199087354412768e-06, + "chamfer": 4.332312528276816e-06, + "track": 8.667745987622766e-07, + "acceleration": 1.2889431388884987e-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": 5.484758275997592e-06, + "observation_loss": 5.344968030840391e-06, + "chamfer": 4.433367848832859e-06, + "track": 9.116001820075326e-07, + "acceleration": 1.3979035884403856e-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": 5.979698471492156e-06, + "observation_loss": 5.6673029575904366e-06, + "chamfer": 4.67002610093914e-06, + "track": 9.972768566512968e-07, + "acceleration": 3.1239574127539527e-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": 6.316644430626184e-06, + "observation_loss": 5.95839082961902e-06, + "chamfer": 4.882116172666429e-06, + "track": 1.0762746569525916e-06, + "acceleration": 3.582536862722918e-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": 6.359538019751199e-06, + "observation_loss": 6.110160938987974e-06, + "chamfer": 4.997504220227711e-06, + "track": 1.112656832447101e-06, + "acceleration": 2.4937691023296793e-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": 6.616990049224114e-06, + "observation_loss": 6.1154300965426955e-06, + "chamfer": 5.0091948651243e-06, + "track": 1.1062353451052331e-06, + "acceleration": 5.015600095248374e-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": 6.233073236217024e-06, + "observation_loss": 6.03008129473892e-06, + "chamfer": 4.946848093823064e-06, + "track": 1.083233314602694e-06, + "acceleration": 2.0299199832152226e-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": 6.017749910824932e-06, + "observation_loss": 5.953329946351005e-06, + "chamfer": 4.892933702649316e-06, + "track": 1.0603961300148512e-06, + "acceleration": 6.442012079332926e-08, + "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": 6.080103958083782e-06, + "observation_loss": 6.026493792887777e-06, + "chamfer": 4.950251422997098e-06, + "track": 1.0762423698906787e-06, + "acceleration": 5.361038546425334e-08, + "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": 6.283619768510107e-06, + "observation_loss": 6.197793481987901e-06, + "chamfer": 5.086021246825112e-06, + "track": 1.111772235162789e-06, + "acceleration": 8.582622967878706e-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": 6.577014119102387e-06, + "observation_loss": 6.4599516917951405e-06, + "chamfer": 5.279494871501811e-06, + "track": 1.1804569339801674e-06, + "acceleration": 1.1706238467468211e-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": 6.7876067078032065e-06, + "observation_loss": 6.690103873552289e-06, + "chamfer": 5.458447958517354e-06, + "track": 1.2316559150349349e-06, + "acceleration": 9.750288398890916e-08, + "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": 7.176185590651585e-06, + "observation_loss": 7.011537036305526e-06, + "chamfer": 5.699815119442064e-06, + "track": 1.3117218031766242e-06, + "acceleration": 1.6464865382204152e-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": 7.3545434133848175e-06, + "observation_loss": 7.29546854927321e-06, + "chamfer": 5.909352239541477e-06, + "track": 1.386116309731733e-06, + "acceleration": 5.9074984903872974e-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": 7.71920349507127e-06, + "observation_loss": 7.3565825005061924e-06, + "chamfer": 5.966473054286325e-06, + "track": 1.3901093325330294e-06, + "acceleration": 3.62621449312428e-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": 7.403629751934204e-06, + "observation_loss": 7.252836894622305e-06, + "chamfer": 5.908186722081155e-06, + "track": 1.344650058854313e-06, + "acceleration": 1.507929141553177e-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": 7.508958333346527e-06, + "observation_loss": 7.323641057155328e-06, + "chamfer": 5.967490778857609e-06, + "track": 1.3561503919845563e-06, + "acceleration": 1.8531738987803692e-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": 7.916821232356597e-06, + "observation_loss": 7.657774403924122e-06, + "chamfer": 6.209245839272626e-06, + "track": 1.4485283372778213e-06, + "acceleration": 2.590472263364063e-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": 8.193342182494234e-06, + "observation_loss": 8.010467354324646e-06, + "chamfer": 6.457274139393121e-06, + "track": 1.5531932149315253e-06, + "acceleration": 1.828751976518106e-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": 8.239512681029737e-06, + "observation_loss": 8.14589384390274e-06, + "chamfer": 6.5343142523488495e-06, + "track": 1.6115798189275665e-06, + "acceleration": 9.361863817503036e-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": 8.3279328464414e-06, + "observation_loss": 8.283273018605541e-06, + "chamfer": 6.623734407185111e-06, + "track": 1.6595386114204302e-06, + "acceleration": 4.465985981028098e-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": 8.409906513406895e-06, + "observation_loss": 8.332824108947534e-06, + "chamfer": 6.652772754023317e-06, + "track": 1.6800515822978923e-06, + "acceleration": 7.708284499585716e-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": 8.427577995462343e-06, + "observation_loss": 8.330976925208233e-06, + "chamfer": 6.650131126662018e-06, + "track": 1.6808456848593778e-06, + "acceleration": 9.660142552547768e-08, + "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": 8.54624158819206e-06, + "observation_loss": 8.33788999443641e-06, + "chamfer": 6.651601324847434e-06, + "track": 1.6862883285284624e-06, + "acceleration": 2.083515227013777e-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": 8.836062988848425e-06, + "observation_loss": 8.69895848154556e-06, + "chamfer": 6.898036190250423e-06, + "track": 1.8009220639214618e-06, + "acceleration": 1.3710477730910497e-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": 9.41118923947215e-06, + "observation_loss": 9.327962288807612e-06, + "chamfer": 7.312266916414956e-06, + "track": 2.0156955997663317e-06, + "acceleration": 8.322657407688894e-08, + "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": 1.0079074854729697e-05, + "observation_loss": 9.807258720684331e-06, + "chamfer": 7.636712325620465e-06, + "track": 2.1705461676901905e-06, + "acceleration": 2.7181656037100765e-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": 9.805757144931704e-06, + "observation_loss": 9.652522749092896e-06, + "chamfer": 7.536808425356867e-06, + "track": 2.1157143237360287e-06, + "acceleration": 1.532344242605177e-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": 9.513950317341369e-06, + "observation_loss": 9.326185136160348e-06, + "chamfer": 7.335362624871777e-06, + "track": 1.9908227386622457e-06, + "acceleration": 1.877656075066625e-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": 9.105940080189612e-06, + "observation_loss": 9.061041055247188e-06, + "chamfer": 7.1613108048040885e-06, + "track": 1.8997304778167745e-06, + "acceleration": 4.489873006718881e-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": 8.88106478669215e-06, + "observation_loss": 8.831878403725568e-06, + "chamfer": 6.999006018304499e-06, + "track": 1.8328722717342316e-06, + "acceleration": 4.9186699158099145e-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": 8.834557775116991e-06, + "observation_loss": 8.776854883763008e-06, + "chamfer": 6.952302101126406e-06, + "track": 1.824553010010277e-06, + "acceleration": 5.770331767962489e-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": 9.027207852341235e-06, + "observation_loss": 8.820984476187732e-06, + "chamfer": 6.976085387577768e-06, + "track": 1.844899315983639e-06, + "acceleration": 2.0622296403871587e-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": 9.43007671594387e-06, + "observation_loss": 8.853367944539059e-06, + "chamfer": 6.996509910095483e-06, + "track": 1.8568579207567382e-06, + "acceleration": 5.767089419350668e-07, + "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": 9.167429197987076e-06, + "observation_loss": 8.8770375441527e-06, + "chamfer": 6.99317888575024e-06, + "track": 1.8838589994629729e-06, + "acceleration": 2.9039190962976136e-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": 9.251462870452087e-06, + "observation_loss": 8.92814205144532e-06, + "chamfer": 7.0270089054247364e-06, + "track": 1.9011333733942593e-06, + "acceleration": 3.233211884889897e-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": 9.735318599268794e-06, + "observation_loss": 9.027208761835936e-06, + "chamfer": 7.073785582178971e-06, + "track": 1.953423407030641e-06, + "acceleration": 7.081094395289256e-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": 1.0153543371416163e-05, + "observation_loss": 9.15927466849098e-06, + "chamfer": 7.16567183189909e-06, + "track": 1.9936026092182146e-06, + "acceleration": 9.942683618646697e-07, + "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": 9.781237167771906e-06, + "observation_loss": 9.271113412978593e-06, + "chamfer": 7.243931122502545e-06, + "track": 2.027182063102373e-06, + "acceleration": 5.101237547933124e-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": 9.69073244050378e-06, + "observation_loss": 9.516095815342851e-06, + "chamfer": 7.413273124257103e-06, + "track": 2.1028226910857484e-06, + "acceleration": 1.7463658252836467e-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": 9.939819392457139e-06, + "observation_loss": 9.820576451602392e-06, + "chamfer": 7.6046558206144255e-06, + "track": 2.215920858361642e-06, + "acceleration": 1.1924265663765254e-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": 1.0277761248289607e-05, + "observation_loss": 1.02224566944642e-05, + "chamfer": 7.863829523557797e-06, + "track": 2.3586273982800776e-06, + "acceleration": 5.530423408117713e-08, + "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": 1.0414749340270646e-05, + "observation_loss": 1.0367204595240764e-05, + "chamfer": 7.948954589664936e-06, + "track": 2.418249778202153e-06, + "acceleration": 4.754443594379154e-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": 1.0633906640578061e-05, + "observation_loss": 1.042442636389751e-05, + "chamfer": 7.974245818331838e-06, + "track": 2.4501800908183213e-06, + "acceleration": 2.0947997825260245e-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": 1.0589194971544202e-05, + "observation_loss": 1.045984299707925e-05, + "chamfer": 7.962134077388328e-06, + "track": 2.4977086923172465e-06, + "acceleration": 1.293518465672605e-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": 1.052746029017726e-05, + "observation_loss": 1.0446908163430635e-05, + "chamfer": 7.929202183731832e-06, + "track": 2.5177062070724787e-06, + "acceleration": 8.055175015897476e-08, + "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": 1.0568456673354376e-05, + "observation_loss": 1.0315239705960266e-05, + "chamfer": 7.843735147616826e-06, + "track": 2.4715047857171157e-06, + "acceleration": 2.532172231894947e-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": 1.0720372301875614e-05, + "observation_loss": 1.0099925930262543e-05, + "chamfer": 7.716975233051926e-06, + "track": 2.3829511519579682e-06, + "acceleration": 6.204462010828138e-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": 1.0398882295703515e-05, + "observation_loss": 1.0015935004048515e-05, + "chamfer": 7.653656211914495e-06, + "track": 2.362279019507696e-06, + "acceleration": 3.829468937510683e-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": 1.0128793292096816e-05, + "observation_loss": 9.942907126969658e-06, + "chamfer": 7.599522177770268e-06, + "track": 2.343385176573065e-06, + "acceleration": 1.858861935488676e-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": 1.0184173333982471e-05, + "observation_loss": 9.891013178275898e-06, + "chamfer": 7.5622833719535265e-06, + "track": 2.3287298063223716e-06, + "acceleration": 2.931598999111884e-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": 1.012299344438361e-05, + "observation_loss": 9.9544195109047e-06, + "chamfer": 7.615841695951531e-06, + "track": 2.3385775875794934e-06, + "acceleration": 1.6857437401540665e-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": 1.010991218208801e-05, + "observation_loss": 1.0048825970443431e-05, + "chamfer": 7.675115739402827e-06, + "track": 2.373710003666929e-06, + "acceleration": 6.10859487437665e-08, + "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": 1.0276881766912993e-05, + "observation_loss": 1.010685446090065e-05, + "chamfer": 7.680639100726694e-06, + "track": 2.426215587547631e-06, + "acceleration": 1.7002714969294175e-07, + "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": 1.0424439096823335e-05, + "observation_loss": 1.0203631973126903e-05, + "chamfer": 7.716328582318965e-06, + "track": 2.4873038455552887e-06, + "acceleration": 2.208074789677994e-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": 1.0739359822764527e-05, + "observation_loss": 1.0516245311009698e-05, + "chamfer": 7.86840155342361e-06, + "track": 2.6478439849597635e-06, + "acceleration": 2.2311427017029928e-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": 1.1080800504714716e-05, + "observation_loss": 1.0858563655347098e-05, + "chamfer": 8.0365543908556e-06, + "track": 2.8220092644914985e-06, + "acceleration": 2.222365083071054e-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": 1.1392294254619628e-05, + "observation_loss": 1.1221334716537967e-05, + "chamfer": 8.240902388934046e-06, + "track": 2.9804323276039213e-06, + "acceleration": 1.7095942439482315e-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": 1.1503518180688843e-05, + "observation_loss": 1.1401802112231962e-05, + "chamfer": 8.327333489432931e-06, + "track": 3.074468850172707e-06, + "acceleration": 1.0171648057166749e-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": 1.1876159078383353e-05, + "observation_loss": 1.1623558748397045e-05, + "chamfer": 8.466616236546542e-06, + "track": 3.156942284476827e-06, + "acceleration": 2.525999036606663e-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": 1.218135639646789e-05, + "observation_loss": 1.1963291399297304e-05, + "chamfer": 8.677047844685148e-06, + "track": 3.286243554612156e-06, + "acceleration": 2.1806471295349183e-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": 1.2304912161198445e-05, + "observation_loss": 1.2221182259963825e-05, + "chamfer": 8.821647497825325e-06, + "track": 3.399534762138501e-06, + "acceleration": 8.373013571372212e-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": 1.2419261111062951e-05, + "observation_loss": 1.234349201695295e-05, + "chamfer": 8.881653229764197e-06, + "track": 3.4618387871887535e-06, + "acceleration": 7.576881699833393e-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": 1.2488056199799757e-05, + "observation_loss": 1.2417479410942178e-05, + "chamfer": 8.932049240684137e-06, + "track": 3.4854301702580415e-06, + "acceleration": 7.057688833356224e-08, + "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": 1.2495190276240464e-05, + "observation_loss": 1.2428405170794576e-05, + "chamfer": 8.912959856388625e-06, + "track": 3.515445541779627e-06, + "acceleration": 6.678541808469163e-08, + "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": 1.2489614164223894e-05, + "observation_loss": 1.2441373655747157e-05, + "chamfer": 8.897141015040688e-06, + "track": 3.544232868080144e-06, + "acceleration": 4.824006083481436e-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": 1.2556937690533232e-05, + "observation_loss": 1.241858808498364e-05, + "chamfer": 8.88874455995392e-06, + "track": 3.5298432976560434e-06, + "acceleration": 1.383493071216435e-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": 1.2528536899480969e-05, + "observation_loss": 1.2392095413815696e-05, + "chamfer": 8.873940714693163e-06, + "track": 3.5181544717488578e-06, + "acceleration": 1.3644158514125593e-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": 1.2384568435663823e-05, + "observation_loss": 1.2369348041829653e-05, + "chamfer": 8.846024684316944e-06, + "track": 3.523323584886384e-06, + "acceleration": 1.521999415388109e-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": 1.238937329617329e-05, + "observation_loss": 1.233496095665032e-05, + "chamfer": 8.813388376438525e-06, + "track": 3.5215728075854713e-06, + "acceleration": 5.4412616634635924e-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": 1.2441851140465587e-05, + "observation_loss": 1.2315552339714486e-05, + "chamfer": 8.792708285909612e-06, + "track": 3.5228440538048744e-06, + "acceleration": 1.2629863022084464e-07, + "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": 1.2334506209299434e-05, + "observation_loss": 1.2215400602144655e-05, + "chamfer": 8.736217750993092e-06, + "track": 3.4791826237778878e-06, + "acceleration": 1.1910586295016401e-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": 1.209064885188127e-05, + "observation_loss": 1.2056803825544193e-05, + "chamfer": 8.652035830891691e-06, + "track": 3.4047679946525022e-06, + "acceleration": 3.38450227843623e-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": 9.381697803216108e-06, + "chamfer_mean": 6.485797797495252e-06, + "track_mean": 1.8696703119047697e-06, + "acceleration_mean": 1.026229714410724e-06, + "observation_score": 8.355468092228572e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429772965999291 + }, + "score_arrays_file": "pass_scores/pass_end_0148.npz", + "score_arrays_sha256": "59b4da7ced4a153b5c32c8b768c9a7352e31fba750a4031875afe5df35df926c" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0149.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0149.json new file mode 100644 index 0000000000000000000000000000000000000000..96235832c783941fc47abd8578e384fc34ffc7ea --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0149.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14304, + "completed_passes": 149, + "snapshot": "pass_end_0149", + "candidate": true, + "snapshot_arrays_sha256": "17553412365923de5825d10fd51556732641ccfa42bccd5f277ff22d9939315a", + "score": 8.34403492670314e-06, + "score_result": { + "score": 8.34403492670314e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.951194801426027e-06, + 3.282365923951147e-06, + 3.6542717225529486e-06, + 4.429354703461286e-06, + 5.259271802060539e-06, + 5.651564606523607e-06, + 5.646905265166424e-06, + 5.533303919946775e-06, + 5.357294867280871e-06, + 5.336125013855053e-06, + 5.524954758584499e-06, + 5.723008143831976e-06, + 5.961488568573259e-06, + 6.121338628872763e-06, + 6.196683443704387e-06, + 6.327156370389275e-06, + 6.17872501607053e-06, + 5.902218617848121e-06, + 5.719064574805088e-06, + 5.667443929269211e-06, + 5.64987340112566e-06, + 5.511924427992199e-06, + 5.276028787193354e-06, + 5.179228992346907e-06, + 5.322984179656487e-06, + 5.64279935133527e-06, + 5.933879492658889e-06, + 6.0868323998874985e-06, + 6.095397111494094e-06, + 6.0128022596472874e-06, + 5.936767593084369e-06, + 6.009675416862592e-06, + 6.182438482937869e-06, + 6.443267920985818e-06, + 6.670997208857443e-06, + 6.991559985181084e-06, + 7.275092229974689e-06, + 7.336012004088843e-06, + 7.229264156194404e-06, + 7.294963779713726e-06, + 7.626984370290302e-06, + 7.97991560830269e-06, + 8.11579138826346e-06, + 8.252904081018642e-06, + 8.303047252411488e-06, + 8.302479727717582e-06, + 8.311254532600287e-06, + 8.673945558257401e-06, + 9.304257218900602e-06, + 9.783718269318342e-06, + 9.630350177758373e-06, + 9.305493222200312e-06, + 9.040868462761864e-06, + 8.813080057734624e-06, + 8.757833711570129e-06, + 8.802267075225245e-06, + 8.835055268718861e-06, + 8.86012458067853e-06, + 8.912335033528507e-06, + 9.012371265271213e-06, + 9.14664997253567e-06, + 9.260980732506141e-06, + 9.509496521786787e-06, + 9.819300430535804e-06, + 1.0226666745438706e-05, + 1.037670790537959e-05, + 1.0439078323543072e-05, + 1.0479594493517652e-05, + 1.0472020221641287e-05, + 1.0339823347749189e-05, + 1.0122806997969747e-05, + 1.003990928438725e-05, + 9.96590551949339e-06, + 9.904972102958709e-06, + 9.96595645119669e-06, + 1.005854119284777e-05, + 1.0112890777236316e-05, + 1.0204495083598886e-05, + 1.0513194865779951e-05, + 1.0852843843167648e-05, + 1.1215219274163246e-05, + 1.1396130503271706e-05, + 1.1617214113357477e-05, + 1.1956677553826012e-05, + 1.2215124115755316e-05, + 1.2337865882727783e-05, + 1.2412378964654636e-05, + 1.2423117368598469e-05, + 1.243787664861884e-05, + 1.2414029697538354e-05, + 1.2387876267894171e-05, + 1.2364402209641412e-05, + 1.2330599020060617e-05, + 1.2311479622439947e-05, + 1.221152979269391e-05, + 1.20543963930686e-05 + ] + ], + "episode_mean_losses": [ + 8.34403492670314e-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": 2.951194801426027e-06, + "observation_loss": 2.951194801426027e-06, + "chamfer": 2.503128143871436e-06, + "track": 4.4806674281971937e-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": 4.3529467802727595e-05, + "observation_loss": 3.282365923951147e-06, + "chamfer": 2.7767887331719976e-06, + "track": 5.055770770923118e-07, + "acceleration": 4.02471014240291e-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": 2.6207007977063768e-05, + "observation_loss": 3.6542717225529486e-06, + "chamfer": 3.08605899590475e-06, + "track": 5.682127266481984e-07, + "acceleration": 2.2552736481884494e-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": 1.2363289897621144e-05, + "observation_loss": 4.429354703461286e-06, + "chamfer": 3.701825562529848e-06, + "track": 7.275290840880189e-07, + "acceleration": 7.933935194159858e-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": 9.687631973065436e-06, + "observation_loss": 5.259271802060539e-06, + "chamfer": 4.3317099880368914e-06, + "track": 9.275618140236475e-07, + "acceleration": 4.428359716257546e-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": 7.284900220838608e-06, + "observation_loss": 5.651564606523607e-06, + "chamfer": 4.609004008671036e-06, + "track": 1.0425608252262464e-06, + "acceleration": 1.633335728001839e-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": 6.758210474799853e-06, + "observation_loss": 5.646905265166424e-06, + "chamfer": 4.579412689054152e-06, + "track": 1.06749268979911e-06, + "acceleration": 1.1113053233202663e-06, + "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": 6.144155577203492e-06, + "observation_loss": 5.533303919946775e-06, + "chamfer": 4.486111720325425e-06, + "track": 1.0471923133081873e-06, + "acceleration": 6.108514867264603e-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": 6.313040103123058e-06, + "observation_loss": 5.357294867280871e-06, + "chamfer": 4.356870704214089e-06, + "track": 1.000424163066782e-06, + "acceleration": 9.557454632158624e-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": 6.077322723285761e-06, + "observation_loss": 5.336125013855053e-06, + "chamfer": 4.359574177215109e-06, + "track": 9.765509503267822e-07, + "acceleration": 7.411977662741265e-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": 5.9048784351034556e-06, + "observation_loss": 5.524954758584499e-06, + "chamfer": 4.532790626399219e-06, + "track": 9.921643595589558e-07, + "acceleration": 3.799235628321185e-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": 6.21555273028207e-06, + "observation_loss": 5.723008143831976e-06, + "chamfer": 4.699873898061924e-06, + "track": 1.023134245770052e-06, + "acceleration": 4.925445296066755e-07, + "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": 6.346147984004347e-06, + "observation_loss": 5.961488568573259e-06, + "chamfer": 4.907251877739327e-06, + "track": 1.0542364634602563e-06, + "acceleration": 3.84659557539635e-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": 6.38533720120904e-06, + "observation_loss": 6.121338628872763e-06, + "chamfer": 5.046349997428479e-06, + "track": 1.0749886314442847e-06, + "acceleration": 2.639987428665336e-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": 6.735701390425675e-06, + "observation_loss": 6.196683443704387e-06, + "chamfer": 5.11659436597256e-06, + "track": 1.0800890777318273e-06, + "acceleration": 5.390178330344497e-07, + "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": 6.818349447712535e-06, + "observation_loss": 6.327156370389275e-06, + "chamfer": 5.227167093835305e-06, + "track": 1.0999895039276453e-06, + "acceleration": 4.911929067930032e-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": 6.381979346770095e-06, + "observation_loss": 6.17872501607053e-06, + "chamfer": 5.106991920911241e-06, + "track": 1.0717329814724508e-06, + "acceleration": 2.0325423122358188e-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": 6.234246484382311e-06, + "observation_loss": 5.902218617848121e-06, + "chamfer": 4.889579031441826e-06, + "track": 1.0126395864062943e-06, + "acceleration": 3.3202775284735253e-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": 5.901195436308626e-06, + "observation_loss": 5.719064574805088e-06, + "chamfer": 4.7483267735515255e-06, + "track": 9.707380286272382e-07, + "acceleration": 1.8213066255157173e-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": 5.79964580538217e-06, + "observation_loss": 5.667443929269211e-06, + "chamfer": 4.709189852292184e-06, + "track": 9.582539632901899e-07, + "acceleration": 1.3220208927577914e-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": 5.863519163540332e-06, + "observation_loss": 5.64987340112566e-06, + "chamfer": 4.695167262980249e-06, + "track": 9.547062518322491e-07, + "acceleration": 2.1364576241467148e-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": 5.7551478676032275e-06, + "observation_loss": 5.511924427992199e-06, + "chamfer": 4.588387582771247e-06, + "track": 9.235366746906948e-07, + "acceleration": 2.4322352487615717e-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": 5.4523338803846855e-06, + "observation_loss": 5.276028787193354e-06, + "chamfer": 4.401281785249012e-06, + "track": 8.747469451009238e-07, + "acceleration": 1.7630512161304068e-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": 5.3082944759808015e-06, + "observation_loss": 5.179228992346907e-06, + "chamfer": 4.316282229410717e-06, + "track": 8.629468197796086e-07, + "acceleration": 1.2906562574244163e-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": 5.462738045025617e-06, + "observation_loss": 5.322984179656487e-06, + "chamfer": 4.415669991431059e-06, + "track": 9.073141882254276e-07, + "acceleration": 1.3975370904972806e-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": 5.955383130640257e-06, + "observation_loss": 5.64279935133527e-06, + "chamfer": 4.650611572287744e-06, + "track": 9.921876653606887e-07, + "acceleration": 3.125838361484057e-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": 6.2921726566855796e-06, + "observation_loss": 5.933879492658889e-06, + "chamfer": 4.862812147621298e-06, + "track": 1.0710673450375907e-06, + "acceleration": 3.582929366530152e-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": 6.336417754937429e-06, + "observation_loss": 6.0868323998874985e-06, + "chamfer": 4.978978722647298e-06, + "track": 1.107853790927038e-06, + "acceleration": 2.495854118933494e-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": 6.596751063625561e-06, + "observation_loss": 6.095397111494094e-06, + "chamfer": 4.993429229216417e-06, + "track": 1.1019676549040014e-06, + "acceleration": 5.013538952880481e-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": 6.214155291672796e-06, + "observation_loss": 6.0128022596472874e-06, + "chamfer": 4.933248874294804e-06, + "track": 1.0795531579788076e-06, + "acceleration": 2.0135287570610672e-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": 6.002385816827882e-06, + "observation_loss": 5.936767593084369e-06, + "chamfer": 4.879739663010696e-06, + "track": 1.0570277026999975e-06, + "acceleration": 6.561837295748774e-08, + "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": 6.0637453316303436e-06, + "observation_loss": 6.009675416862592e-06, + "chamfer": 4.9365971790393814e-06, + "track": 1.073078124136373e-06, + "acceleration": 5.407011727243116e-08, + "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": 6.2702438299311325e-06, + "observation_loss": 6.182438482937869e-06, + "chamfer": 5.073535248811822e-06, + "track": 1.1089034614997217e-06, + "acceleration": 8.780516935757987e-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": 6.561037025676342e-06, + "observation_loss": 6.443267920985818e-06, + "chamfer": 5.266012067295378e-06, + "track": 1.1772558536904398e-06, + "acceleration": 1.1776908337424175e-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": 6.7682572080229875e-06, + "observation_loss": 6.670997208857443e-06, + "chamfer": 5.443136160465656e-06, + "track": 1.2278608210181119e-06, + "acceleration": 9.726020522293766e-08, + "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": 7.156327683333075e-06, + "observation_loss": 6.991559985181084e-06, + "chamfer": 5.684075858880533e-06, + "track": 1.3074840126137133e-06, + "acceleration": 1.6476749920002476e-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": 7.334746442211326e-06, + "observation_loss": 7.275092229974689e-06, + "chamfer": 5.893457455385942e-06, + "track": 1.3816348882755847e-06, + "acceleration": 5.965424065834668e-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": 7.698567969782744e-06, + "observation_loss": 7.336012004088843e-06, + "chamfer": 5.950596460024826e-06, + "track": 1.385415544064017e-06, + "acceleration": 3.625563920195418e-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": 7.38023527446785e-06, + "observation_loss": 7.229264156194404e-06, + "chamfer": 5.889869498787448e-06, + "track": 1.3393948847806314e-06, + "acceleration": 1.5097103300831805e-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": 7.480029125872534e-06, + "observation_loss": 7.294963779713726e-06, + "chamfer": 5.945079010416521e-06, + "track": 1.3498846556103672e-06, + "acceleration": 1.850655308999194e-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": 7.886747880547773e-06, + "observation_loss": 7.626984370290302e-06, + "chamfer": 6.185786332935095e-06, + "track": 1.4411979236683692e-06, + "acceleration": 2.597636239443091e-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": 8.163552593032364e-06, + "observation_loss": 7.97991560830269e-06, + "chamfer": 6.434130682464456e-06, + "track": 1.5457845847777207e-06, + "acceleration": 1.8363681419941713e-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": 8.209012776205782e-06, + "observation_loss": 8.11579138826346e-06, + "chamfer": 6.511609171866439e-06, + "track": 1.6041819890233455e-06, + "acceleration": 9.322168637027062e-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": 8.297736712847836e-06, + "observation_loss": 8.252904081018642e-06, + "chamfer": 6.601004770345753e-06, + "track": 1.6518989696123754e-06, + "acceleration": 4.4832958678853174e-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": 8.380044164368883e-06, + "observation_loss": 8.303047252411488e-06, + "chamfer": 6.630458756262669e-06, + "track": 1.6725887235224945e-06, + "acceleration": 7.699687643025754e-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": 8.39926451590145e-06, + "observation_loss": 8.302479727717582e-06, + "chamfer": 6.628838946198812e-06, + "track": 1.6736411225792835e-06, + "acceleration": 9.678495160869716e-08, + "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": 8.519353286828846e-06, + "observation_loss": 8.311254532600287e-06, + "chamfer": 6.631715223193169e-06, + "track": 1.6795395367807942e-06, + "acceleration": 2.0809912371078099e-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": 8.810978215478826e-06, + "observation_loss": 8.673945558257401e-06, + "chamfer": 6.87948522681836e-06, + "track": 1.7944604451258783e-06, + "acceleration": 1.370322593174933e-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": 9.387631507706828e-06, + "observation_loss": 9.304257218900602e-06, + "chamfer": 7.295012892427621e-06, + "track": 2.009244326472981e-06, + "acceleration": 8.337396906199501e-08, + "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": 1.0055799066321924e-05, + "observation_loss": 9.783718269318342e-06, + "chamfer": 7.619650205015205e-06, + "track": 2.1640685190504882e-06, + "acceleration": 2.7208091069041984e-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": 9.783911082195118e-06, + "observation_loss": 9.630350177758373e-06, + "chamfer": 7.520783583458979e-06, + "track": 2.10956682167307e-06, + "acceleration": 1.53560492321958e-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": 9.494306141277775e-06, + "observation_loss": 9.305493222200312e-06, + "chamfer": 7.320327767956769e-06, + "track": 1.9851654542435426e-06, + "acceleration": 1.8881274854720687e-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": 9.086593308893498e-06, + "observation_loss": 9.040868462761864e-06, + "chamfer": 7.146534699131735e-06, + "track": 1.894333536256454e-06, + "acceleration": 4.572499534560848e-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": 8.862718459567986e-06, + "observation_loss": 8.813080057734624e-06, + "chamfer": 6.9854736466368195e-06, + "track": 1.8276065247846418e-06, + "acceleration": 4.963836630622609e-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": 8.815830369712785e-06, + "observation_loss": 8.757833711570129e-06, + "chamfer": 6.938596015970688e-06, + "track": 1.8192380366599537e-06, + "acceleration": 5.799647695425847e-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": 9.08004858501954e-06, + "observation_loss": 8.802267075225245e-06, + "chamfer": 6.9627953962481115e-06, + "track": 1.8394717926639714e-06, + "acceleration": 2.777812824206194e-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": 9.691821105661802e-06, + "observation_loss": 8.835055268718861e-06, + "chamfer": 6.983462299103849e-06, + "track": 1.8515928559281747e-06, + "acceleration": 8.567662916902918e-07, + "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": 9.223653250955977e-06, + "observation_loss": 8.86012458067853e-06, + "chamfer": 6.981280876061646e-06, + "track": 1.8788438183037215e-06, + "acceleration": 3.635289544945408e-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": 9.23738753044745e-06, + "observation_loss": 8.912335033528507e-06, + "chamfer": 7.015884420980001e-06, + "track": 1.8964507262353436e-06, + "acceleration": 3.250528095577465e-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": 9.721791684569325e-06, + "observation_loss": 9.012371265271213e-06, + "chamfer": 7.063613793434342e-06, + "track": 1.948757244463195e-06, + "acceleration": 7.094206466717878e-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": 1.0144223779207096e-05, + "observation_loss": 9.14664997253567e-06, + "chamfer": 7.157232175813988e-06, + "track": 1.9894175693480065e-06, + "acceleration": 9.975735792977503e-07, + "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": 9.773274541657884e-06, + "observation_loss": 9.260980732506141e-06, + "chamfer": 7.237199042720022e-06, + "track": 2.0237821445334703e-06, + "acceleration": 5.122934680912294e-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": 9.68510539678391e-06, + "observation_loss": 9.509496521786787e-06, + "chamfer": 7.409033514704788e-06, + "track": 2.1004630070819985e-06, + "acceleration": 1.756084344606279e-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": 9.939714800566435e-06, + "observation_loss": 9.819300430535804e-06, + "chamfer": 7.6040350904804654e-06, + "track": 2.2152655674290145e-06, + "acceleration": 1.204147679345624e-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": 1.0281875802320428e-05, + "observation_loss": 1.0226666745438706e-05, + "chamfer": 7.866980013204738e-06, + "track": 2.359686959607643e-06, + "acceleration": 5.5209344651530046e-08, + "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": 1.0424484571558423e-05, + "observation_loss": 1.037670790537959e-05, + "chamfer": 7.955813998705707e-06, + "track": 2.420893906673882e-06, + "acceleration": 4.777674078582095e-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": 1.0650063813955057e-05, + "observation_loss": 1.0439078323543072e-05, + "chamfer": 7.98462497186847e-06, + "track": 2.4544528969272505e-06, + "acceleration": 2.1098585989420826e-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": 1.0609437595121562e-05, + "observation_loss": 1.0479594493517652e-05, + "chamfer": 7.976218512339983e-06, + "track": 2.5033757538039936e-06, + "acceleration": 1.2984349950784235e-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": 1.0552103049121797e-05, + "observation_loss": 1.0472020221641287e-05, + "chamfer": 7.947332960611675e-06, + "track": 2.524687715776963e-06, + "acceleration": 8.008292695649288e-08, + "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": 1.0590241799945943e-05, + "observation_loss": 1.0339823347749189e-05, + "chamfer": 7.861336598580237e-06, + "track": 2.478487203916302e-06, + "acceleration": 2.5041865114872053e-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": 1.074199826689437e-05, + "observation_loss": 1.0122806997969747e-05, + "chamfer": 7.732514859526418e-06, + "track": 2.3902921384433284e-06, + "acceleration": 6.191912120812049e-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": 1.0419884347356856e-05, + "observation_loss": 1.003990928438725e-05, + "chamfer": 7.670170816709287e-06, + "track": 2.3697382403042866e-06, + "acceleration": 3.799752050781535e-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": 1.0150394700758625e-05, + "observation_loss": 9.96590551949339e-06, + "chamfer": 7.615264166815905e-06, + "track": 2.350641352677485e-06, + "acceleration": 1.8448919547608966e-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": 1.0243788892694283e-05, + "observation_loss": 9.904972102958709e-06, + "chamfer": 7.570611614937661e-06, + "track": 2.3343609427683987e-06, + "acceleration": 3.3881639183164225e-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": 1.0156308235309552e-05, + "observation_loss": 9.96595645119669e-06, + "chamfer": 7.623003057233291e-06, + "track": 2.3429533939633984e-06, + "acceleration": 1.9035162779346138e-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": 1.01264249678934e-05, + "observation_loss": 1.005854119284777e-05, + "chamfer": 7.681176612095442e-06, + "track": 2.3773648081260035e-06, + "acceleration": 6.788403084101446e-08, + "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": 1.0291455510014202e-05, + "observation_loss": 1.0112890777236316e-05, + "chamfer": 7.684415322728455e-06, + "track": 2.4284754545078613e-06, + "acceleration": 1.7856494594070682e-07, + "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": 1.0429883332108147e-05, + "observation_loss": 1.0204495083598886e-05, + "chamfer": 7.717026164755225e-06, + "track": 2.4874689188436605e-06, + "acceleration": 2.2538787902703916e-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": 1.0736895092122722e-05, + "observation_loss": 1.0513194865779951e-05, + "chamfer": 7.86692908150144e-06, + "track": 2.646265784278512e-06, + "acceleration": 2.2370053898157494e-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": 1.1070847904193215e-05, + "observation_loss": 1.0852843843167648e-05, + "chamfer": 8.033386620809324e-06, + "track": 2.819456994984648e-06, + "acceleration": 2.180036346999259e-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": 1.137963499786565e-05, + "observation_loss": 1.1215219274163246e-05, + "chamfer": 8.237034307967406e-06, + "track": 2.978185193569516e-06, + "acceleration": 1.6441553896129335e-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": 1.1498565072542988e-05, + "observation_loss": 1.1396130503271706e-05, + "chamfer": 8.324096597789321e-06, + "track": 3.0720339054823853e-06, + "acceleration": 1.0243453374414457e-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": 1.1871976312249899e-05, + "observation_loss": 1.1617214113357477e-05, + "chamfer": 8.46286457090173e-06, + "track": 3.1543499972030986e-06, + "acceleration": 2.5476231257925974e-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": 1.21725379358395e-05, + "observation_loss": 1.1956677553826012e-05, + "chamfer": 8.673836418893188e-06, + "track": 3.2828406801854726e-06, + "acceleration": 2.1586015463981312e-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": 1.2299706213525496e-05, + "observation_loss": 1.2215124115755316e-05, + "chamfer": 8.819176400720607e-06, + "track": 3.395947942408384e-06, + "acceleration": 8.458168565539381e-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": 1.2414111552061513e-05, + "observation_loss": 1.2337865882727783e-05, + "chamfer": 8.879414053808432e-06, + "track": 3.4584520562930265e-06, + "acceleration": 7.624601749967042e-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": 1.248274838872021e-05, + "observation_loss": 1.2412378964654636e-05, + "chamfer": 8.930470357881859e-06, + "track": 3.481908834146452e-06, + "acceleration": 7.036972249352402e-08, + "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": 1.2490496374084614e-05, + "observation_loss": 1.2423117368598469e-05, + "chamfer": 8.911390068533365e-06, + "track": 3.5117270726914285e-06, + "acceleration": 6.737887758845318e-08, + "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": 1.2487089406931773e-05, + "observation_loss": 1.243787664861884e-05, + "chamfer": 8.896497092791833e-06, + "track": 3.5413793284533313e-06, + "acceleration": 4.921284002534776e-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": 1.255649567610817e-05, + "observation_loss": 1.2414029697538354e-05, + "chamfer": 8.887293006409891e-06, + "track": 3.526736463754787e-06, + "acceleration": 1.424662627869111e-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": 1.2529215382528491e-05, + "observation_loss": 1.2387876267894171e-05, + "chamfer": 8.872571925166994e-06, + "track": 3.515303887979826e-06, + "acceleration": 1.413389014714994e-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": 1.238206368725514e-05, + "observation_loss": 1.2364402209641412e-05, + "chamfer": 8.844215699355118e-06, + "track": 3.520186965033645e-06, + "acceleration": 1.7661792028889067e-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": 1.2386453818180598e-05, + "observation_loss": 1.2330599020060617e-05, + "chamfer": 8.811989573587198e-06, + "track": 3.5186094464734197e-06, + "acceleration": 5.585441087418985e-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": 1.2438928933988791e-05, + "observation_loss": 1.2311479622439947e-05, + "chamfer": 8.791542313701939e-06, + "track": 3.5199370813643327e-06, + "acceleration": 1.2744901312089496e-07, + "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": 1.2331544894550461e-05, + "observation_loss": 1.221152979269391e-05, + "chamfer": 8.735090887057595e-06, + "track": 3.4764389056363143e-06, + "acceleration": 1.200146613200559e-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": 1.2089442861906718e-05, + "observation_loss": 1.20543963930686e-05, + "chamfer": 8.65189667820232e-06, + "track": 3.402499487492605e-06, + "acceleration": 3.504651857610952e-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": 9.374264010375555e-06, + "chamfer_mean": 6.477423937667481e-06, + "track_mean": 1.8666110065031678e-06, + "acceleration_mean": 1.0302290855412899e-06, + "observation_score": 8.34403492670314e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.427316471001177 + }, + "score_arrays_file": "pass_scores/pass_end_0149.npz", + "score_arrays_sha256": "4b13b83d0e57ec53c3844d3944da3eaa541ca94a026488deb8a6d3b0044f3d3a" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0150.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0150.json new file mode 100644 index 0000000000000000000000000000000000000000..931e6f0888355db452c357d936ab6466f0bfbbff --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0150.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14400, + "completed_passes": 150, + "snapshot": "pass_end_0150", + "candidate": true, + "snapshot_arrays_sha256": "3e9812800f4ec9aa2e4e6adb4b97b632efa380d34a9f7d2b4785732452799bb3", + "score": 8.330632669621233e-06, + "score_result": { + "score": 8.330632669621233e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9507509680115618e-06, + 3.279717248005909e-06, + 3.6494957385002635e-06, + 4.415883267938625e-06, + 5.2419745770748705e-06, + 5.631895874103066e-06, + 5.624826371786185e-06, + 5.512404186447384e-06, + 5.338351456884993e-06, + 5.318545845511835e-06, + 5.510109531314811e-06, + 5.709626748284791e-06, + 5.947531917627202e-06, + 6.106868568167556e-06, + 6.178739567985758e-06, + 6.308776391961146e-06, + 6.1602177083841525e-06, + 5.884196525585139e-06, + 5.701593636331381e-06, + 5.647879788739374e-06, + 5.6279432101291604e-06, + 5.4884017117728945e-06, + 5.2538739510055166e-06, + 5.158681688044453e-06, + 5.300600605551153e-06, + 5.617557690129615e-06, + 5.908245384489419e-06, + 6.061964086256921e-06, + 6.073902113712393e-06, + 5.995269020786509e-06, + 5.920490366406739e-06, + 5.9936564866802655e-06, + 6.167992523842258e-06, + 6.427141670428682e-06, + 6.653533091593999e-06, + 6.9727525442431215e-06, + 7.2552998062747065e-06, + 7.316000846913084e-06, + 7.206519512692466e-06, + 7.2665307015995495e-06, + 7.5970779107592534e-06, + 7.94920833868673e-06, + 8.084889486781321e-06, + 8.220904419431463e-06, + 8.271465958387125e-06, + 8.271855222119484e-06, + 8.28167685540393e-06, + 8.645675734442193e-06, + 9.277183380618226e-06, + 9.756566214491613e-06, + 9.604253136785701e-06, + 9.280487574869767e-06, + 9.01527346286457e-06, + 8.788939339865465e-06, + 8.733494723855983e-06, + 8.778267329034861e-06, + 8.811360203253571e-06, + 8.837443601805717e-06, + 8.890132448868826e-06, + 8.991099093691446e-06, + 9.127059456659481e-06, + 9.243588465324137e-06, + 9.495013728155755e-06, + 9.809539733396377e-06, + 1.0221875527349766e-05, + 1.0377727448940277e-05, + 1.0445477528264746e-05, + 1.049091497407062e-05, + 1.048727790475823e-05, + 1.0356283382861875e-05, + 1.0137928256881423e-05, + 1.0056896826426964e-05, + 9.982381925510708e-06, + 9.913071153277997e-06, + 9.971660801966209e-06, + 1.006249658530578e-05, + 1.0114671567862388e-05, + 1.0203290912613738e-05, + 1.051001891028136e-05, + 1.0847382327483501e-05, + 1.1209247531951405e-05, + 1.1390675354050472e-05, + 1.1611085938056931e-05, + 1.1950144653383177e-05, + 1.2209517080918886e-05, + 1.2331951438682154e-05, + 1.24068201330374e-05, + 1.2418247024470475e-05, + 1.243355745828012e-05, + 1.2410037925292272e-05, + 1.2385057743813377e-05, + 1.2360426808299962e-05, + 1.2326934665907174e-05, + 1.2308343684708234e-05, + 1.2208461157570127e-05, + 1.205267290060874e-05 + ] + ], + "episode_mean_losses": [ + 8.330632669621233e-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": 2.9507509680115618e-06, + "observation_loss": 2.9507509680115618e-06, + "chamfer": 2.5027622996276477e-06, + "track": 4.479886399622046e-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": 4.3462096073199064e-05, + "observation_loss": 3.279717248005909e-06, + "chamfer": 2.7745463739847764e-06, + "track": 5.051708171777136e-07, + "acceleration": 4.018237814307213e-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": 2.614488039398566e-05, + "observation_loss": 3.6494957385002635e-06, + "chamfer": 3.082195007664268e-06, + "track": 5.673007876794145e-07, + "acceleration": 2.2495383745990694e-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": 1.2333208360360004e-05, + "observation_loss": 4.415883267938625e-06, + "chamfer": 3.6914275369781535e-06, + "track": 7.244556741170527e-07, + "acceleration": 7.917325092421379e-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": 9.674609827925451e-06, + "observation_loss": 5.2419745770748705e-06, + "chamfer": 4.319257641327567e-06, + "track": 9.227169925907219e-07, + "acceleration": 4.43263479610323e-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": 7.261569862748729e-06, + "observation_loss": 5.631895874103066e-06, + "chamfer": 4.595839527610224e-06, + "track": 1.0360565738665173e-06, + "acceleration": 1.6296741023325012e-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": 6.727847903675865e-06, + "observation_loss": 5.624826371786185e-06, + "chamfer": 4.564844857668504e-06, + "track": 1.0599814004308428e-06, + "acceleration": 1.1030215318896808e-06, + "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": 6.126014341134578e-06, + "observation_loss": 5.512404186447384e-06, + "chamfer": 4.4724047256750055e-06, + "track": 1.039999574459216e-06, + "acceleration": 6.136101546871942e-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": 6.292060334089911e-06, + "observation_loss": 5.338351456884993e-06, + "chamfer": 4.344456556282239e-06, + "track": 9.938949006027542e-07, + "acceleration": 9.537087635180796e-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": 6.0512611526064575e-06, + "observation_loss": 5.318545845511835e-06, + "chamfer": 4.347756203060271e-06, + "track": 9.707895287647261e-07, + "acceleration": 7.327153070946224e-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": 5.888584382773843e-06, + "observation_loss": 5.510109531314811e-06, + "chamfer": 4.522788913163822e-06, + "track": 9.873205044641509e-07, + "acceleration": 3.7847468092877534e-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": 6.1986088439880405e-06, + "observation_loss": 5.709626748284791e-06, + "chamfer": 4.690721198130632e-06, + "track": 1.0189057775278343e-06, + "acceleration": 4.889822662335064e-07, + "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": 6.315359314612579e-06, + "observation_loss": 5.947531917627202e-06, + "chamfer": 4.8975293793773744e-06, + "track": 1.0500026519366656e-06, + "acceleration": 3.678276243590517e-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": 6.377777026500553e-06, + "observation_loss": 6.106868568167556e-06, + "chamfer": 5.036104084865656e-06, + "track": 1.070764596988738e-06, + "acceleration": 2.709084583329968e-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": 6.728205335093662e-06, + "observation_loss": 6.178739567985758e-06, + "chamfer": 5.103370767756132e-06, + "track": 1.0753685728559503e-06, + "acceleration": 5.494658239513228e-07, + "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": 6.784752258681692e-06, + "observation_loss": 6.308776391961146e-06, + "chamfer": 5.213481017563026e-06, + "track": 1.0952956017717952e-06, + "acceleration": 4.7597586672054604e-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": 6.363569355016807e-06, + "observation_loss": 6.1602177083841525e-06, + "chamfer": 5.093045729154255e-06, + "track": 1.0671717518562218e-06, + "acceleration": 2.0335153294581687e-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": 6.220915565791074e-06, + "observation_loss": 5.884196525585139e-06, + "chamfer": 4.875649210589472e-06, + "track": 1.0085472013088292e-06, + "acceleration": 3.3671906862764445e-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": 5.885766313440399e-06, + "observation_loss": 5.701593636331381e-06, + "chamfer": 4.734605226985877e-06, + "track": 9.669882956586662e-07, + "acceleration": 1.8417256342218025e-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": 5.781389518233482e-06, + "observation_loss": 5.647879788739374e-06, + "chamfer": 4.693632490671007e-06, + "track": 9.542471843815292e-07, + "acceleration": 1.3350987160265504e-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": 5.844059160153847e-06, + "observation_loss": 5.6279432101291604e-06, + "chamfer": 4.677723154600244e-06, + "track": 9.502199986854976e-07, + "acceleration": 2.1611603528981504e-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": 5.737894753110595e-06, + "observation_loss": 5.4884017117728945e-06, + "chamfer": 4.569484190142248e-06, + "track": 9.189175784740655e-07, + "acceleration": 2.4949284238573455e-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": 5.430101737147197e-06, + "observation_loss": 5.2538739510055166e-06, + "chamfer": 4.383365194371436e-06, + "track": 8.705086997906619e-07, + "acceleration": 1.7622765824398812e-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": 5.287588464852888e-06, + "observation_loss": 5.158681688044453e-06, + "chamfer": 4.2996671254513785e-06, + "track": 8.590146762799122e-07, + "acceleration": 1.2890674838672567e-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": 5.4406459639722016e-06, + "observation_loss": 5.300600605551153e-06, + "chamfer": 4.397643351694569e-06, + "track": 9.02957424386841e-07, + "acceleration": 1.4004527315591986e-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": 5.931965006311657e-06, + "observation_loss": 5.617557690129615e-06, + "chamfer": 4.630583134712651e-06, + "track": 9.869746691038017e-07, + "acceleration": 3.1440740144716983e-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": 6.268967354117194e-06, + "observation_loss": 5.908245384489419e-06, + "chamfer": 4.842577254748903e-06, + "track": 1.0656682434273534e-06, + "acceleration": 3.6072177067580924e-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": 6.314548045338597e-06, + "observation_loss": 6.061964086256921e-06, + "chamfer": 4.959222678735387e-06, + "track": 1.1027415212083724e-06, + "acceleration": 2.525837317080004e-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": 6.577737167390296e-06, + "observation_loss": 6.073902113712393e-06, + "chamfer": 4.976513082510792e-06, + "track": 1.0973891448884388e-06, + "acceleration": 5.038349968344846e-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": 6.195730293256929e-06, + "observation_loss": 5.995269020786509e-06, + "chamfer": 4.9194381972483825e-06, + "track": 1.0758310509118019e-06, + "acceleration": 2.0046147142238624e-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": 5.98746692048735e-06, + "observation_loss": 5.920490366406739e-06, + "chamfer": 4.866697054239921e-06, + "track": 1.053793084793142e-06, + "acceleration": 6.697672461086768e-08, + "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": 6.049312560207909e-06, + "observation_loss": 5.9936564866802655e-06, + "chamfer": 4.923581400362309e-06, + "track": 1.0700753136916319e-06, + "acceleration": 5.565592076095527e-08, + "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": 6.257952918531373e-06, + "observation_loss": 6.167992523842258e-06, + "chamfer": 5.0617709348443896e-06, + "track": 1.106221475311031e-06, + "acceleration": 8.996023126428554e-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": 6.5457975324534345e-06, + "observation_loss": 6.427141670428682e-06, + "chamfer": 5.252971732261358e-06, + "track": 1.1741699381673243e-06, + "acceleration": 1.1865608229300051e-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": 6.75147839501733e-06, + "observation_loss": 6.653533091593999e-06, + "chamfer": 5.429136763268616e-06, + "track": 1.2243962146385456e-06, + "acceleration": 9.794533184503962e-08, + "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": 7.139516128518153e-06, + "observation_loss": 6.9727525442431215e-06, + "chamfer": 5.669236998073757e-06, + "track": 1.303515432482527e-06, + "acceleration": 1.6676378322699748e-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": 7.315210041269893e-06, + "observation_loss": 7.2552998062747065e-06, + "chamfer": 5.878014235349838e-06, + "track": 1.3772855709248688e-06, + "acceleration": 5.991019946804954e-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": 7.677683242945932e-06, + "observation_loss": 7.316000846913084e-06, + "chamfer": 5.935132321610581e-06, + "track": 1.380868638989341e-06, + "acceleration": 3.6168256656310405e-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": 7.358063157880679e-06, + "observation_loss": 7.206519512692466e-06, + "chamfer": 5.872197561984649e-06, + "track": 1.3343219507078175e-06, + "acceleration": 1.515434746579558e-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": 7.451116289303172e-06, + "observation_loss": 7.2665307015995495e-06, + "chamfer": 5.922819127590628e-06, + "track": 1.3437114603220834e-06, + "acceleration": 1.84585431384221e-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": 7.857168384362012e-06, + "observation_loss": 7.5970779107592534e-06, + "chamfer": 6.163028047012631e-06, + "track": 1.4340497500597849e-06, + "acceleration": 2.6009061571130587e-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": 8.133832125167828e-06, + "observation_loss": 7.94920833868673e-06, + "chamfer": 6.410834885173244e-06, + "track": 1.5383733398266486e-06, + "acceleration": 1.8462395701135392e-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": 8.178164534911048e-06, + "observation_loss": 8.084889486781321e-06, + "chamfer": 6.4883092818490695e-06, + "track": 1.5965804323059274e-06, + "acceleration": 9.327474970177718e-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": 8.265787982963957e-06, + "observation_loss": 8.220904419431463e-06, + "chamfer": 6.577006388397422e-06, + "track": 1.6438980310340412e-06, + "acceleration": 4.4883336158818565e-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": 8.348378287337255e-06, + "observation_loss": 8.271465958387125e-06, + "chamfer": 6.6067827901861165e-06, + "track": 1.664683054514171e-06, + "acceleration": 7.691240710983038e-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": 8.36945946502965e-06, + "observation_loss": 8.271855222119484e-06, + "chamfer": 6.605980615859153e-06, + "track": 1.6658748336340068e-06, + "acceleration": 9.760410790704555e-08, + "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": 8.489999345329124e-06, + "observation_loss": 8.28167685540393e-06, + "chamfer": 6.609559477510629e-06, + "track": 1.672117264206463e-06, + "acceleration": 2.0832288782912656e-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": 8.78277114679804e-06, + "observation_loss": 8.645675734442193e-06, + "chamfer": 6.858516371721635e-06, + "track": 1.787159135346883e-06, + "acceleration": 1.3709548341012123e-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": 9.36060314415954e-06, + "observation_loss": 9.277183380618226e-06, + "chamfer": 7.275420557562029e-06, + "track": 2.0017630504298722e-06, + "acceleration": 8.342010460182792e-08, + "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": 1.0028200449596625e-05, + "observation_loss": 9.756566214491613e-06, + "chamfer": 7.600079698022455e-06, + "track": 2.156486289095483e-06, + "acceleration": 2.7163409299646446e-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": 9.758279702509753e-06, + "observation_loss": 9.604253136785701e-06, + "chamfer": 7.501984782720683e-06, + "track": 2.1022685814386932e-06, + "acceleration": 1.540261962418299e-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": 9.47014177654637e-06, + "observation_loss": 9.280487574869767e-06, + "chamfer": 7.302212452486856e-06, + "track": 1.9782748950092355e-06, + "acceleration": 1.896543864177147e-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": 9.061357559403405e-06, + "observation_loss": 9.01527346286457e-06, + "chamfer": 7.127780463633826e-06, + "track": 1.8874933402912575e-06, + "acceleration": 4.6083673765906497e-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": 8.839286238071509e-06, + "observation_loss": 8.788939339865465e-06, + "chamfer": 6.967999070184305e-06, + "track": 1.8209401559943217e-06, + "acceleration": 5.0346759650210515e-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": 8.792333574092481e-06, + "observation_loss": 8.733494723855983e-06, + "chamfer": 6.920982741576154e-06, + "track": 1.8125123233403428e-06, + "acceleration": 5.883854470312144e-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": 9.065424819709733e-06, + "observation_loss": 8.778267329034861e-06, + "chamfer": 6.945641416677972e-06, + "track": 1.8326259123568889e-06, + "acceleration": 2.871572633011965e-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": 9.703830073704012e-06, + "observation_loss": 8.811360203253571e-06, + "chamfer": 6.966497039684327e-06, + "track": 1.8448628225087305e-06, + "acceleration": 8.924698704504408e-07, + "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": 9.212258191837464e-06, + "observation_loss": 8.837443601805717e-06, + "chamfer": 6.9651587182306685e-06, + "track": 1.8722852246355615e-06, + "acceleration": 3.7481456161003734e-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": 9.216726539307274e-06, + "observation_loss": 8.890132448868826e-06, + "chamfer": 7.000124242040329e-06, + "track": 1.8900085478890105e-06, + "acceleration": 3.265939199081913e-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": 9.70195651461836e-06, + "observation_loss": 8.991099093691446e-06, + "chamfer": 7.048823590594111e-06, + "track": 1.9422757304710103e-06, + "acceleration": 7.108573072400759e-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": 1.012690245261183e-05, + "observation_loss": 9.127059456659481e-06, + "chamfer": 7.143850780266803e-06, + "track": 1.983208676392678e-06, + "acceleration": 9.998429959523492e-07, + "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": 9.75803141045617e-06, + "observation_loss": 9.243588465324137e-06, + "chamfer": 7.2253601501870435e-06, + "track": 2.018228315137094e-06, + "acceleration": 5.144433430359641e-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": 9.672074156696908e-06, + "observation_loss": 9.495013728155755e-06, + "chamfer": 7.399259629892185e-06, + "track": 2.095754098263569e-06, + "acceleration": 1.770603716977348e-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": 9.931562090059742e-06, + "observation_loss": 9.809539733396377e-06, + "chamfer": 7.597363946842961e-06, + "track": 2.212176013927092e-06, + "acceleration": 1.2202222876567248e-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": 1.0277580258843955e-05, + "observation_loss": 1.0221875527349766e-05, + "chamfer": 7.863814062147867e-06, + "track": 2.3580614652018994e-06, + "acceleration": 5.5704919788013285e-08, + "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": 1.0425386790302582e-05, + "observation_loss": 1.0377727448940277e-05, + "chamfer": 7.956673471198883e-06, + "track": 2.421054432488745e-06, + "acceleration": 4.7659046487069645e-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": 1.065688775270246e-05, + "observation_loss": 1.0445477528264746e-05, + "chamfer": 7.989246114448179e-06, + "track": 2.456231641190243e-06, + "acceleration": 2.114103949679702e-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": 1.062068076862488e-05, + "observation_loss": 1.049091497407062e-05, + "chamfer": 7.984383046277799e-06, + "track": 2.5065317004191456e-06, + "acceleration": 1.297657803434049e-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": 1.0567880053713452e-05, + "observation_loss": 1.048727790475823e-05, + "chamfer": 7.958404239616357e-06, + "track": 2.5288738925155485e-06, + "acceleration": 8.060225553663258e-08, + "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": 1.0607015610730741e-05, + "observation_loss": 1.0356283382861875e-05, + "chamfer": 7.873071808717214e-06, + "track": 2.4832120288920123e-06, + "acceleration": 2.5073265419450763e-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": 1.0759736142063048e-05, + "observation_loss": 1.0137928256881423e-05, + "chamfer": 7.742768502794206e-06, + "track": 2.395159754087217e-06, + "acceleration": 6.218075441211113e-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": 1.0441091035318095e-05, + "observation_loss": 1.0056896826426964e-05, + "chamfer": 7.68194513511844e-06, + "track": 2.3749519186822e-06, + "acceleration": 3.841945783733536e-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": 1.0168703738600016e-05, + "observation_loss": 9.982381925510708e-06, + "chamfer": 7.626527803950012e-06, + "track": 2.355854348934372e-06, + "acceleration": 1.863220973064017e-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": 1.0308781384082977e-05, + "observation_loss": 9.913071153277997e-06, + "chamfer": 7.575023118988611e-06, + "track": 2.338048034289386e-06, + "acceleration": 3.957103444918175e-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": 1.019002047542017e-05, + "observation_loss": 9.971660801966209e-06, + "chamfer": 7.626427759532817e-06, + "track": 2.345232815059717e-06, + "acceleration": 2.1836000030361902e-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": 1.0138376637769397e-05, + "observation_loss": 1.006249658530578e-05, + "chamfer": 7.683531293878332e-06, + "track": 2.3789657461747993e-06, + "acceleration": 7.588040773498506e-08, + "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": 1.0303769158781506e-05, + "observation_loss": 1.0114671567862388e-05, + "chamfer": 7.685267519264016e-06, + "track": 2.4294040485983714e-06, + "acceleration": 1.890974345997165e-07, + "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": 1.0432156159367878e-05, + "observation_loss": 1.0203290912613738e-05, + "chamfer": 7.716258551226929e-06, + "track": 2.4870323613868095e-06, + "acceleration": 2.2886496253704536e-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": 1.0735104297054932e-05, + "observation_loss": 1.051001891028136e-05, + "chamfer": 7.865250154281966e-06, + "track": 2.644768983373069e-06, + "acceleration": 2.250857988883581e-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": 1.106203762901714e-05, + "observation_loss": 1.0847382327483501e-05, + "chamfer": 8.030354365473613e-06, + "track": 2.8170281893835636e-06, + "acceleration": 2.1465541522047715e-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": 1.136945684265811e-05, + "observation_loss": 1.1209247531951405e-05, + "chamfer": 8.233520929934457e-06, + "track": 2.9757268293906236e-06, + "acceleration": 1.6020933912841429e-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": 1.1494674254208803e-05, + "observation_loss": 1.1390675354050472e-05, + "chamfer": 8.321039786096662e-06, + "track": 3.069636022701161e-06, + "acceleration": 1.0399907779401474e-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": 1.1865837223012932e-05, + "observation_loss": 1.1611085938056931e-05, + "chamfer": 8.459453056275379e-06, + "track": 3.151632427034201e-06, + "acceleration": 2.54751171269163e-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": 1.216384225699585e-05, + "observation_loss": 1.1950144653383177e-05, + "chamfer": 8.67059043230256e-06, + "track": 3.279554221080616e-06, + "acceleration": 2.1369805836002342e-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": 1.2294782209210098e-05, + "observation_loss": 1.2209517080918886e-05, + "chamfer": 8.816841727821156e-06, + "track": 3.3926748983503785e-06, + "acceleration": 8.526473038728e-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": 1.2408120710460935e-05, + "observation_loss": 1.2331951438682154e-05, + "chamfer": 8.876960237103049e-06, + "track": 3.454991201579105e-06, + "acceleration": 7.616929309506304e-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": 1.247750515176449e-05, + "observation_loss": 1.24068201330374e-05, + "chamfer": 8.928549505071715e-06, + "track": 3.4782704005920095e-06, + "acceleration": 7.068483398597891e-08, + "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": 1.248594890057575e-05, + "observation_loss": 1.2418247024470475e-05, + "chamfer": 8.909946700441651e-06, + "track": 3.508300551402499e-06, + "acceleration": 6.770198979211273e-08, + "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": 1.2483263162721414e-05, + "observation_loss": 1.243355745828012e-05, + "chamfer": 8.895140126696788e-06, + "track": 3.538417104209657e-06, + "acceleration": 4.970546996219127e-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": 1.2553252418001648e-05, + "observation_loss": 1.2410037925292272e-05, + "chamfer": 8.885976967576426e-06, + "track": 3.524061185089522e-06, + "acceleration": 1.4321454955279478e-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": 1.2523503755801357e-05, + "observation_loss": 1.2385057743813377e-05, + "chamfer": 8.871934369381052e-06, + "track": 3.51312314705865e-06, + "acceleration": 1.3844609725310875e-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": 1.2374875041132327e-05, + "observation_loss": 1.2360426808299962e-05, + "chamfer": 8.842915121931583e-06, + "track": 3.517511913742055e-06, + "acceleration": 1.4448001017797196e-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": 1.2381979104247876e-05, + "observation_loss": 1.2326934665907174e-05, + "chamfer": 8.810906365397386e-06, + "track": 3.5160280731361127e-06, + "acceleration": 5.5044669267090285e-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": 1.243693805008661e-05, + "observation_loss": 1.2308343684708234e-05, + "chamfer": 8.790883839537855e-06, + "track": 3.517460072544054e-06, + "acceleration": 1.2859433695666667e-07, + "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": 1.2329782293818425e-05, + "observation_loss": 1.2208461157570127e-05, + "chamfer": 8.734366929274984e-06, + "track": 3.474094455668819e-06, + "acceleration": 1.2132097992889612e-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": 1.2087435607099906e-05, + "observation_loss": 1.205267290060874e-05, + "chamfer": 8.652070391690359e-06, + "track": 3.4006022815447068e-06, + "acceleration": 3.4762400957788486e-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": 9.361281219829229e-06, + "chamfer_mean": 6.467633279309363e-06, + "track_mean": 1.8629994279114233e-06, + "acceleration_mean": 1.0306485298816614e-06, + "observation_score": 8.330632669621233e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429664375998982 + }, + "score_arrays_file": "pass_scores/pass_end_0150.npz", + "score_arrays_sha256": "639f33acfd5a3bcdbdc8052ccee17629fa079ec7f60e61e233bd3393189d48ec" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0151.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0151.json new file mode 100644 index 0000000000000000000000000000000000000000..f2033a27d9fa2444800872d7bbaefa6e6a71de77 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0151.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14496, + "completed_passes": 151, + "snapshot": "pass_end_0151", + "candidate": true, + "snapshot_arrays_sha256": "cfbbc7de76669f345ad88272f6bfd30f6192eaa7382a336379e748de42286d24", + "score": 8.319526237698938e-06, + "score_result": { + "score": 8.319526237698938e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.950328280348913e-06, + 3.277095856901724e-06, + 3.6449569051910657e-06, + 4.402326339913998e-06, + 5.223753760219552e-06, + 5.611878805211745e-06, + 5.602658347925171e-06, + 5.490609510161448e-06, + 5.3185804063105024e-06, + 5.299930762703298e-06, + 5.493995104188798e-06, + 5.695110758097144e-06, + 5.932678504905198e-06, + 6.0918027884326875e-06, + 6.1601213019457646e-06, + 6.289435532380594e-06, + 6.140829100331757e-06, + 5.86538044444751e-06, + 5.6833046073734295e-06, + 5.627728569379542e-06, + 5.604563284578035e-06, + 5.463642082759179e-06, + 5.2312720981717575e-06, + 5.138275355420774e-06, + 5.278087883198168e-06, + 5.591613899014192e-06, + 5.881818651687354e-06, + 6.037419552740175e-06, + 6.052429853298236e-06, + 5.97780217503896e-06, + 5.903545570618007e-06, + 5.977474302198971e-06, + 6.152944934001425e-06, + 6.4111186475201976e-06, + 6.635521458520088e-06, + 6.953363936190726e-06, + 7.235506473080022e-06, + 7.2964626269822475e-06, + 7.1845897764433175e-06, + 7.238815669552423e-06, + 7.566554813820403e-06, + 7.917315997474361e-06, + 8.0531244748272e-06, + 8.188346328097396e-06, + 8.239072485594079e-06, + 8.240985152951907e-06, + 8.252316547441296e-06, + 8.616734703537077e-06, + 9.24807318369858e-06, + 9.72687303146813e-06, + 9.576927368470933e-06, + 9.255151780962478e-06, + 8.990630703920033e-06, + 8.766967766860034e-06, + 8.712811904842965e-06, + 8.75865498528583e-06, + 8.793305823928677e-06, + 8.820460607239511e-06, + 8.874132618075237e-06, + 8.97592144610826e-06, + 9.113702617469244e-06, + 9.231967851519585e-06, + 9.485751434112899e-06, + 9.804305591387674e-06, + 1.0221539923804812e-05, + 1.0382824257249013e-05, + 1.0455496521899477e-05, + 1.0506074431759771e-05, + 1.0505702448426746e-05, + 1.0377530998084694e-05, + 1.01580253613065e-05, + 1.0079474122903775e-05, + 1.0004343494074419e-05, + 9.928654435498174e-06, + 9.98697942122817e-06, + 1.0075656973640434e-05, + 1.012450138659915e-05, + 1.0209660104010254e-05, + 1.0513408597034868e-05, + 1.0848160854948219e-05, + 1.1209286640223581e-05, + 1.1390627150831278e-05, + 1.1610473848122638e-05, + 1.194899232359603e-05, + 1.2208623957121745e-05, + 1.2331245670793578e-05, + 1.2407102985889651e-05, + 1.242036887560971e-05, + 1.243423957930645e-05, + 1.241209429281298e-05, + 1.2387676179059781e-05, + 1.2363283531158231e-05, + 1.2330649951763917e-05, + 1.2312395483604632e-05, + 1.2212488400109578e-05, + 1.2058073480147868e-05 + ] + ], + "episode_mean_losses": [ + 8.319526237698938e-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": 2.950328280348913e-06, + "observation_loss": 2.950328280348913e-06, + "chamfer": 2.502415100025246e-06, + "track": 4.479131803236669e-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": 4.338979852036573e-05, + "observation_loss": 3.277095856901724e-06, + "chamfer": 2.772327889033477e-06, + "track": 5.047679678682471e-07, + "acceleration": 4.011270357295871e-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": 2.6087283913511783e-05, + "observation_loss": 3.6449569051910657e-06, + "chamfer": 3.0785242870479124e-06, + "track": 5.664326749865722e-07, + "acceleration": 2.2442327463068068e-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": 1.2305345080676489e-05, + "observation_loss": 4.402326339913998e-06, + "chamfer": 3.6809226457990007e-06, + "track": 7.21403694114997e-07, + "acceleration": 7.90301874076249e-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": 9.658868293627165e-06, + "observation_loss": 5.223753760219552e-06, + "chamfer": 4.305994480091613e-06, + "track": 9.177593369713577e-07, + "acceleration": 4.4351149881549645e-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": 7.238102625706233e-06, + "observation_loss": 5.611878805211745e-06, + "chamfer": 4.582415385812055e-06, + "track": 1.0294636467733653e-06, + "acceleration": 1.6262235931208124e-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": 6.697600838379003e-06, + "observation_loss": 5.602658347925171e-06, + "chamfer": 4.550273388304049e-06, + "track": 1.0523851869947976e-06, + "acceleration": 1.0949423767669941e-06, + "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": 6.106774435465923e-06, + "observation_loss": 5.490609510161448e-06, + "chamfer": 4.458004241314484e-06, + "track": 1.032605041473289e-06, + "acceleration": 6.161648116176366e-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": 6.2683570831723046e-06, + "observation_loss": 5.3185804063105024e-06, + "chamfer": 4.331512172939256e-06, + "track": 9.870680059975712e-07, + "acceleration": 9.497765631749644e-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": 6.022888555889949e-06, + "observation_loss": 5.299930762703298e-06, + "chamfer": 4.335199719207594e-06, + "track": 9.647310434957035e-07, + "acceleration": 7.22958020560327e-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": 5.8720029301184695e-06, + "observation_loss": 5.493995104188798e-06, + "chamfer": 4.511791303229984e-06, + "track": 9.822039146456518e-07, + "acceleration": 3.7800802488163754e-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": 6.180327545735054e-06, + "observation_loss": 5.695110758097144e-06, + "chamfer": 4.680752226704499e-06, + "track": 1.014358531392645e-06, + "acceleration": 4.852166739510722e-07, + "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": 6.284003575274255e-06, + "observation_loss": 5.932678504905198e-06, + "chamfer": 4.887177055934444e-06, + "track": 1.0455012215970783e-06, + "acceleration": 3.513252977427328e-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": 6.371227755153086e-06, + "observation_loss": 6.0918027884326875e-06, + "chamfer": 5.025434347771807e-06, + "track": 1.0663684406608809e-06, + "acceleration": 2.7942499514210795e-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": 6.718372333125444e-06, + "observation_loss": 6.1601213019457646e-06, + "chamfer": 5.089630576549098e-06, + "track": 1.070490611709829e-06, + "acceleration": 5.58250860649423e-07, + "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": 6.74649754728307e-06, + "observation_loss": 6.289435532380594e-06, + "chamfer": 5.199085990170715e-06, + "track": 1.0903496558967163e-06, + "acceleration": 4.570621001676045e-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": 6.344163466565078e-06, + "observation_loss": 6.140829100331757e-06, + "chamfer": 5.0784692575689405e-06, + "track": 1.0623596153891413e-06, + "acceleration": 2.0333438044417562e-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": 6.206609214132186e-06, + "observation_loss": 5.86538044444751e-06, + "chamfer": 4.8611009333399124e-06, + "track": 1.0042796247944352e-06, + "acceleration": 3.4122865599783836e-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": 5.868635525985155e-06, + "observation_loss": 5.6833046073734295e-06, + "chamfer": 4.720232936961111e-06, + "track": 9.63071556725481e-07, + "acceleration": 1.8533103229856351e-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": 5.763126864621881e-06, + "observation_loss": 5.627728569379542e-06, + "chamfer": 4.677611286751926e-06, + "track": 9.501171120973595e-07, + "acceleration": 1.3539809629037336e-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": 5.823015726491576e-06, + "observation_loss": 5.604563284578035e-06, + "chamfer": 4.6591167119913734e-06, + "track": 9.454467431169178e-07, + "acceleration": 2.18452612443798e-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": 5.718476131733041e-06, + "observation_loss": 5.463642082759179e-06, + "chamfer": 4.549589448288316e-06, + "track": 9.14052748157701e-07, + "acceleration": 2.548340489738621e-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": 5.407707703852793e-06, + "observation_loss": 5.2312720981717575e-06, + "chamfer": 4.365078893897589e-06, + "track": 8.661932042741682e-07, + "acceleration": 1.7643550620505266e-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": 5.267877895676065e-06, + "observation_loss": 5.138275355420774e-06, + "chamfer": 4.283135240257252e-06, + "track": 8.551400014766841e-07, + "acceleration": 1.296025402552914e-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": 5.419138233264675e-06, + "observation_loss": 5.278087883198168e-06, + "chamfer": 4.379521669761743e-06, + "track": 8.985663839666813e-07, + "acceleration": 1.4105044954249024e-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": 5.907342256250558e-06, + "observation_loss": 5.591613899014192e-06, + "chamfer": 4.610008545569144e-06, + "track": 9.816053534450475e-07, + "acceleration": 3.1572818670611014e-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": 6.244536052690819e-06, + "observation_loss": 5.881818651687354e-06, + "chamfer": 4.821755737793865e-06, + "track": 1.0600628002066514e-06, + "acceleration": 3.627175431120122e-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": 6.292992111411877e-06, + "observation_loss": 6.037419552740175e-06, + "chamfer": 4.939754944643937e-06, + "track": 1.0976643807225628e-06, + "acceleration": 2.555725586717017e-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": 6.5585304582782555e-06, + "observation_loss": 6.052429853298236e-06, + "chamfer": 4.959608304488938e-06, + "track": 1.092821662496135e-06, + "acceleration": 5.061006618234387e-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": 6.17785826761974e-06, + "observation_loss": 5.97780217503896e-06, + "chamfer": 4.905701189272804e-06, + "track": 1.072101213139831e-06, + "acceleration": 2.0005624890018225e-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": 5.972296548861777e-06, + "observation_loss": 5.903545570618007e-06, + "chamfer": 4.853121481573908e-06, + "track": 1.0504243164177751e-06, + "acceleration": 6.875105640347101e-08, + "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": 6.034692432876909e-06, + "observation_loss": 5.977474302198971e-06, + "chamfer": 4.910472853225656e-06, + "track": 1.0670013352864771e-06, + "acceleration": 5.7218294102767686e-08, + "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": 6.245882104849443e-06, + "observation_loss": 6.152944934001425e-06, + "chamfer": 5.049528226663824e-06, + "track": 1.1034167073376011e-06, + "acceleration": 9.29370287394704e-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": 6.530560767714633e-06, + "observation_loss": 6.4111186475201976e-06, + "chamfer": 5.240049631538568e-06, + "track": 1.1710691296684672e-06, + "acceleration": 1.194422054595634e-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": 6.7327860051591415e-06, + "observation_loss": 6.635521458520088e-06, + "chamfer": 5.414738552644849e-06, + "track": 1.220782678501564e-06, + "acceleration": 9.726458216618994e-08, + "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": 7.1210897658602335e-06, + "observation_loss": 6.953363936190726e-06, + "chamfer": 5.653919743053848e-06, + "track": 1.2994441931368783e-06, + "acceleration": 1.6772604283232795e-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": 7.295614977920195e-06, + "observation_loss": 7.235506473080022e-06, + "chamfer": 5.862550096935593e-06, + "track": 1.3729563761444297e-06, + "acceleration": 6.010839825876246e-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": 7.655925401195418e-06, + "observation_loss": 7.2964626269822475e-06, + "chamfer": 5.9199946917942725e-06, + "track": 1.3764680488748127e-06, + "acceleration": 3.594632005388121e-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": 7.335952886933228e-06, + "observation_loss": 7.1845897764433175e-06, + "chamfer": 5.8551727306621615e-06, + "track": 1.3294172731548315e-06, + "acceleration": 1.5136318154418404e-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": 7.423399438266642e-06, + "observation_loss": 7.238815669552423e-06, + "chamfer": 5.90111540077487e-06, + "track": 1.3377000414038775e-06, + "acceleration": 1.8458375450336462e-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": 7.826636647223495e-06, + "observation_loss": 7.566554813820403e-06, + "chamfer": 6.139738161436981e-06, + "track": 1.4268167660702602e-06, + "acceleration": 2.6008197551163903e-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": 8.102173524093814e-06, + "observation_loss": 7.917315997474361e-06, + "chamfer": 6.3865300035104156e-06, + "track": 1.530785880277108e-06, + "acceleration": 1.8485768293885485e-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": 8.146074833348393e-06, + "observation_loss": 8.0531244748272e-06, + "chamfer": 6.464247690018965e-06, + "track": 1.5888772395555861e-06, + "acceleration": 9.295029457234705e-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": 8.233200787799433e-06, + "observation_loss": 8.188346328097396e-06, + "chamfer": 6.552496870426694e-06, + "track": 1.6358496850443771e-06, + "acceleration": 4.4854306935349086e-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": 8.315596460306551e-06, + "observation_loss": 8.239072485594079e-06, + "chamfer": 6.58240196571569e-06, + "track": 1.6566705198783893e-06, + "acceleration": 7.652403866131863e-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": 8.338770385307726e-06, + "observation_loss": 8.240985152951907e-06, + "chamfer": 6.582879905181471e-06, + "track": 1.6581053614572738e-06, + "acceleration": 9.778515419611722e-08, + "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": 8.460307071800344e-06, + "observation_loss": 8.252316547441296e-06, + "chamfer": 6.587596089957515e-06, + "track": 1.664720230110106e-06, + "acceleration": 2.079904248830644e-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": 8.753995643928647e-06, + "observation_loss": 8.616734703537077e-06, + "chamfer": 6.837090495537268e-06, + "track": 1.7796437532524578e-06, + "acceleration": 1.3726130987379292e-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": 9.331351066066418e-06, + "observation_loss": 9.24807318369858e-06, + "chamfer": 7.254429874592461e-06, + "track": 1.993642854358768e-06, + "acceleration": 8.327788947326553e-08, + "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": 9.997904271585867e-06, + "observation_loss": 9.72687303146813e-06, + "chamfer": 7.5787852438224945e-06, + "track": 2.1480880150193116e-06, + "acceleration": 2.7103087063551357e-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": 9.73098667600425e-06, + "observation_loss": 9.576927368470933e-06, + "chamfer": 7.482462478947127e-06, + "track": 2.0944646621501306e-06, + "acceleration": 1.54058923840239e-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": 9.445526302442886e-06, + "observation_loss": 9.255151780962478e-06, + "chamfer": 7.283960712811677e-06, + "track": 1.9711910681508016e-06, + "acceleration": 1.9037429410673212e-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": 9.037088602781296e-06, + "observation_loss": 8.990630703920033e-06, + "chamfer": 7.109832040441688e-06, + "track": 1.8807990045388578e-06, + "acceleration": 4.6457731883720044e-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": 8.817945854389109e-06, + "observation_loss": 8.766967766860034e-06, + "chamfer": 6.952080639166525e-06, + "track": 1.8148872413803474e-06, + "acceleration": 5.097824384847627e-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": 8.771622560743708e-06, + "observation_loss": 8.712811904842965e-06, + "chamfer": 6.906042017362779e-06, + "track": 1.8067696601065109e-06, + "acceleration": 5.881038944721695e-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": 9.021084224514198e-06, + "observation_loss": 8.75865498528583e-06, + "chamfer": 6.931638836249476e-06, + "track": 1.827016376410029e-06, + "acceleration": 2.624291255415301e-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": 9.590491572453175e-06, + "observation_loss": 8.793305823928677e-06, + "chamfer": 6.9536631599476095e-06, + "track": 1.839643118728418e-06, + "acceleration": 7.971858053679171e-07, + "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": 9.173200851364527e-06, + "observation_loss": 8.820460607239511e-06, + "chamfer": 6.953176580282161e-06, + "track": 1.8672837995836744e-06, + "acceleration": 3.527404999204009e-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": 9.20138609217247e-06, + "observation_loss": 8.874132618075237e-06, + "chamfer": 6.988907898630714e-06, + "track": 1.8852250605050358e-06, + "acceleration": 3.272536162057804e-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": 9.686657904239837e-06, + "observation_loss": 8.97592144610826e-06, + "chamfer": 7.0384721766458824e-06, + "track": 1.937449269462377e-06, + "acceleration": 7.107365149749967e-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": 1.0115491932083387e-05, + "observation_loss": 9.113702617469244e-06, + "chamfer": 7.134945462894393e-06, + "track": 1.9787576093222015e-06, + "acceleration": 1.0017893146141432e-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": 9.748921911523212e-06, + "observation_loss": 9.231967851519585e-06, + "chamfer": 7.217594429675955e-06, + "track": 2.0143736492173048e-06, + "acceleration": 5.169544010641403e-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": 9.664971003076062e-06, + "observation_loss": 9.485751434112899e-06, + "chamfer": 7.393178293568781e-06, + "track": 2.092573367917794e-06, + "acceleration": 1.7921935580034187e-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": 9.928471627063118e-06, + "observation_loss": 9.804305591387674e-06, + "chamfer": 7.5939974522043485e-06, + "track": 2.210307684435975e-06, + "acceleration": 1.2416647621193988e-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": 1.027766484185122e-05, + "observation_loss": 1.0221539923804812e-05, + "chamfer": 7.863911378080957e-06, + "track": 2.35762831835018e-06, + "acceleration": 5.6125088576663984e-08, + "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": 1.04307309811702e-05, + "observation_loss": 1.0382824257249013e-05, + "chamfer": 7.960567018017173e-06, + "track": 2.4222574666055152e-06, + "acceleration": 4.790690155687116e-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": 1.0669279618014116e-05, + "observation_loss": 1.0455496521899477e-05, + "chamfer": 7.99640838522464e-06, + "track": 2.459087909301161e-06, + "acceleration": 2.1378303927122033e-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": 1.0637073501129635e-05, + "observation_loss": 1.0506074431759771e-05, + "chamfer": 7.99518238636665e-06, + "track": 2.510892272766796e-06, + "acceleration": 1.3099864304422226e-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": 1.058687030308647e-05, + "observation_loss": 1.0505702448426746e-05, + "chamfer": 7.971508239279501e-06, + "track": 2.5341946638945956e-06, + "acceleration": 8.11679683465627e-08, + "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": 1.062844785337802e-05, + "observation_loss": 1.0377530998084694e-05, + "chamfer": 7.888214895501733e-06, + "track": 2.4893156478356104e-06, + "acceleration": 2.509166847630695e-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": 1.0781392120406963e-05, + "observation_loss": 1.01580253613065e-05, + "chamfer": 7.75624175730627e-06, + "track": 2.4017836040002294e-06, + "acceleration": 6.233669864741387e-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": 1.0469903827470262e-05, + "observation_loss": 1.0079474122903775e-05, + "chamfer": 7.697211003687698e-06, + "track": 2.3822628918424016e-06, + "acceleration": 3.9042984667503333e-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": 1.0194459719059523e-05, + "observation_loss": 1.0004343494074419e-05, + "chamfer": 7.641135198355187e-06, + "track": 2.3632082957192324e-06, + "acceleration": 1.901157986594626e-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": 1.0384575944044627e-05, + "observation_loss": 9.928654435498174e-06, + "chamfer": 7.584361810586415e-06, + "track": 2.3442923975380836e-06, + "acceleration": 4.5592111064252094e-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": 1.0236689377052244e-05, + "observation_loss": 9.98697942122817e-06, + "chamfer": 7.63613024901133e-06, + "track": 2.35084917221684e-06, + "acceleration": 2.49709927402364e-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": 1.0156138159800321e-05, + "observation_loss": 1.0075656973640434e-05, + "chamfer": 7.691874088777695e-06, + "track": 2.383783112236415e-06, + "acceleration": 8.04807882559544e-08, + "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": 1.0320144610886928e-05, + "observation_loss": 1.012450138659915e-05, + "chamfer": 7.691450264246669e-06, + "track": 2.4330513497261563e-06, + "acceleration": 1.9564335218547058e-07, + "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": 1.044441796693718e-05, + "observation_loss": 1.0209660104010254e-05, + "chamfer": 7.720597750449087e-06, + "track": 2.4890628083085176e-06, + "acceleration": 2.3475750765555858e-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": 1.0742776794359088e-05, + "observation_loss": 1.0513408597034868e-05, + "chamfer": 7.867992280807812e-06, + "track": 2.645416316227056e-06, + "acceleration": 2.293682968002031e-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": 1.1059789358114358e-05, + "observation_loss": 1.0848160854948219e-05, + "chamfer": 8.03150214778725e-06, + "track": 2.8166589345346438e-06, + "acceleration": 2.1162892949178058e-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": 1.1365406862751115e-05, + "observation_loss": 1.1209286640223581e-05, + "chamfer": 8.23389655124629e-06, + "track": 2.9753903163509676e-06, + "acceleration": 1.5612039305779035e-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": 1.1495894796098582e-05, + "observation_loss": 1.1390627150831278e-05, + "chamfer": 8.321455425175373e-06, + "track": 3.0691719530295813e-06, + "acceleration": 1.0526750315875688e-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": 1.1865879059769213e-05, + "observation_loss": 1.1610473848122638e-05, + "chamfer": 8.459588570985943e-06, + "track": 3.150885049763019e-06, + "acceleration": 2.554052116465755e-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": 1.2161649465269875e-05, + "observation_loss": 1.194899232359603e-05, + "chamfer": 8.670963325130288e-06, + "track": 3.278028543718392e-06, + "acceleration": 2.1265746852350276e-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": 1.2294884072616696e-05, + "observation_loss": 1.2208623957121745e-05, + "chamfer": 8.817663001536857e-06, + "track": 3.390960728211212e-06, + "acceleration": 8.626016523294311e-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": 1.2408392649376765e-05, + "observation_loss": 1.2331245670793578e-05, + "chamfer": 8.877944310370367e-06, + "track": 3.4533015877968865e-06, + "acceleration": 7.714714200801609e-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": 1.247747968591284e-05, + "observation_loss": 1.2407102985889651e-05, + "chamfer": 8.930528565542772e-06, + "track": 3.4765739655995276e-06, + "acceleration": 7.037712634883064e-08, + "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": 1.2487064850574825e-05, + "observation_loss": 1.242036887560971e-05, + "chamfer": 8.913054443837609e-06, + "track": 3.5073139770247508e-06, + "acceleration": 6.669624497135374e-08, + "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": 1.2484782018873375e-05, + "observation_loss": 1.243423957930645e-05, + "chamfer": 8.897281986719463e-06, + "track": 3.536957819960662e-06, + "acceleration": 5.054272733673315e-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": 1.255670031241607e-05, + "observation_loss": 1.241209429281298e-05, + "chamfer": 8.888676347851288e-06, + "track": 3.5234177175880177e-06, + "acceleration": 1.446061190790715e-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": 1.252629044756759e-05, + "observation_loss": 1.2387676179059781e-05, + "chamfer": 8.875064850144554e-06, + "track": 3.512611328915227e-06, + "acceleration": 1.3861462377917633e-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": 1.237759533978533e-05, + "observation_loss": 1.2363283531158231e-05, + "chamfer": 8.845937372825574e-06, + "track": 3.517346613080008e-06, + "acceleration": 1.4311754448215197e-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": 1.2386304661049508e-05, + "observation_loss": 1.2330649951763917e-05, + "chamfer": 8.814609827823006e-06, + "track": 3.516040123940911e-06, + "acceleration": 5.5654449937492245e-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": 1.2442741535778623e-05, + "observation_loss": 1.2312395483604632e-05, + "chamfer": 8.794789209787268e-06, + "track": 3.5176065011910396e-06, + "acceleration": 1.303458105894606e-07, + "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": 1.233503735420527e-05, + "observation_loss": 1.2212488400109578e-05, + "chamfer": 8.738259566598572e-06, + "track": 3.474228833511006e-06, + "acceleration": 1.225490962042386e-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": 1.2092271390429232e-05, + "observation_loss": 1.2058073480147868e-05, + "chamfer": 8.656850695842877e-06, + "track": 3.401223011678667e-06, + "acceleration": 3.419783212166294e-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": 9.348589342058252e-06, + "chamfer_mean": 6.4593730281596135e-06, + "track_mean": 1.8601532267107739e-06, + "acceleration_mean": 1.0290631409134072e-06, + "observation_score": 8.319526237698938e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4168503170003532 + }, + "score_arrays_file": "pass_scores/pass_end_0151.npz", + "score_arrays_sha256": "fb0a750b32106cc2673ec06c491fc80d96cfa4a9fffd80b1c7e4f3b08fc9a844" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0152.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0152.json new file mode 100644 index 0000000000000000000000000000000000000000..183582ee0bef6529bf1ecd50f8d9cce0950c29d7 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0152.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14592, + "completed_passes": 152, + "snapshot": "pass_end_0152", + "candidate": true, + "snapshot_arrays_sha256": "2ebb3409081f4a789924cf6223ec6f28e00dd04234f4f766fc658f5e1e5f0133", + "score": 8.305694907543662e-06, + "score_result": { + "score": 8.305694907543662e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9498617095669033e-06, + 3.274556092947023e-06, + 3.640377599367639e-06, + 4.388806246424792e-06, + 5.205775778449606e-06, + 5.592242359853117e-06, + 5.5806963246141095e-06, + 5.469080861075781e-06, + 5.299250005919021e-06, + 5.28212603967404e-06, + 5.478698312799679e-06, + 5.6817943914211355e-06, + 5.918764600210125e-06, + 6.077571015339345e-06, + 6.142126494523836e-06, + 6.271041911531938e-06, + 6.122725153545616e-06, + 5.847561169503024e-06, + 5.666393462888664e-06, + 5.609590061794734e-06, + 5.584499376709573e-06, + 5.442473593575414e-06, + 5.211448296904564e-06, + 5.1199403969803825e-06, + 5.258523742668331e-06, + 5.569618224399164e-06, + 5.859713382960763e-06, + 6.017386112944223e-06, + 6.034978468960617e-06, + 5.962962859484833e-06, + 5.8888253988698125e-06, + 5.963102012174204e-06, + 6.1390337577904575e-06, + 6.396117896656506e-06, + 6.619506166316569e-06, + 6.935168130439706e-06, + 7.2162401920650154e-06, + 7.2770449150993954e-06, + 7.163500413298607e-06, + 7.2135280788643286e-06, + 7.540376827819273e-06, + 7.890665983723011e-06, + 8.026727300602943e-06, + 8.161038749676663e-06, + 8.212542525143363e-06, + 8.21470075607067e-06, + 8.227242688008118e-06, + 8.593378879595548e-06, + 9.226354450220242e-06, + 9.705598131404258e-06, + 9.555994438414928e-06, + 9.234482604369987e-06, + 8.96896017366089e-06, + 8.74542001838563e-06, + 8.690888535056729e-06, + 8.736444215173833e-06, + 8.771430657361634e-06, + 8.799356692179572e-06, + 8.853123290464282e-06, + 8.955708835856058e-06, + 9.094238521356601e-06, + 9.21407718124101e-06, + 9.470494660490658e-06, + 9.793014214665163e-06, + 1.0215053407591768e-05, + 1.0380973435530905e-05, + 1.0458190445206128e-05, + 1.0513103006815072e-05, + 1.0516033398744185e-05, + 1.0388423106633127e-05, + 1.0167354957957286e-05, + 1.0089847819472197e-05, + 1.0015683983510826e-05, + 9.93055527942488e-06, + 9.986972145270556e-06, + 1.0075066711578984e-05, + 1.012068969430402e-05, + 1.0203393685515039e-05, + 1.0505242244107649e-05, + 1.083817369362805e-05, + 1.1198899301234633e-05, + 1.1381447620806284e-05, + 1.16005021482124e-05, + 1.1937602721445728e-05, + 1.2197731848573312e-05, + 1.2320265341259073e-05, + 1.2396785677992739e-05, + 1.2410267117957119e-05, + 1.2425365639501251e-05, + 1.2403390428517014e-05, + 1.2379340660118032e-05, + 1.2354530554148369e-05, + 1.232178237842163e-05, + 1.230393536388874e-05, + 1.2204322047182359e-05, + 1.2050873920088634e-05 + ] + ], + "episode_mean_losses": [ + 8.305694907543662e-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": 2.9498617095669033e-06, + "observation_loss": 2.9498617095669033e-06, + "chamfer": 2.5020301563927205e-06, + "track": 4.4783163843931106e-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": 4.332355092628859e-05, + "observation_loss": 3.274556092947023e-06, + "chamfer": 2.7701771614374593e-06, + "track": 5.043789315095637e-07, + "acceleration": 4.004899528808892e-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": 2.6031437300844118e-05, + "observation_loss": 3.640377599367639e-06, + "chamfer": 3.0748199151275912e-06, + "track": 5.655577979268855e-07, + "acceleration": 2.2391059246729128e-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": 1.227639768330846e-05, + "observation_loss": 4.388806246424792e-06, + "chamfer": 3.6704348076455062e-06, + "track": 7.183716093095427e-07, + "acceleration": 7.887590982136317e-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": 9.646713806432672e-06, + "observation_loss": 5.205775778449606e-06, + "chamfer": 4.2928381844831165e-06, + "track": 9.129377644967462e-07, + "acceleration": 4.440938482730417e-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": 7.2160960371547844e-06, + "observation_loss": 5.592242359853117e-06, + "chamfer": 4.569274551613489e-06, + "track": 1.0229679219264654e-06, + "acceleration": 1.6238536773016676e-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": 6.667688012385042e-06, + "observation_loss": 5.5806963246141095e-06, + "chamfer": 4.535842435871018e-06, + "track": 1.044854002429929e-06, + "acceleration": 1.086991687770933e-06, + "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": 6.087696419854183e-06, + "observation_loss": 5.469080861075781e-06, + "chamfer": 4.44379247710458e-06, + "track": 1.0252881565975258e-06, + "acceleration": 6.18615331404726e-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": 6.2449903452943545e-06, + "observation_loss": 5.299250005919021e-06, + "chamfer": 4.318851097195875e-06, + "track": 9.803986813494703e-07, + "acceleration": 9.457403962187527e-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": 5.9959311329294e-06, + "observation_loss": 5.28212603967404e-06, + "chamfer": 4.323263510741526e-06, + "track": 9.588626426193514e-07, + "acceleration": 7.138051500987785e-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": 5.856732968823053e-06, + "observation_loss": 5.478698312799679e-06, + "chamfer": 4.5013748604105785e-06, + "track": 9.773233387022628e-07, + "acceleration": 3.780345423365361e-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": 6.162284989841282e-06, + "observation_loss": 5.6817943914211355e-06, + "chamfer": 4.671743681683438e-06, + "track": 1.0100504823640222e-06, + "acceleration": 4.804904847333091e-07, + "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": 6.252709226828301e-06, + "observation_loss": 5.918764600210125e-06, + "chamfer": 4.877596893493319e-06, + "track": 1.0411677067168057e-06, + "acceleration": 3.3394465503988613e-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": 6.368937192746671e-06, + "observation_loss": 6.077571015339345e-06, + "chamfer": 5.015444457967533e-06, + "track": 1.062126557371812e-06, + "acceleration": 2.913660921421979e-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": 6.711178684781771e-06, + "observation_loss": 6.142126494523836e-06, + "chamfer": 5.076368324807845e-06, + "track": 1.0657580560291535e-06, + "acceleration": 5.690523039447726e-07, + "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": 6.709112767566694e-06, + "observation_loss": 6.271041911531938e-06, + "chamfer": 5.1854271987394895e-06, + "track": 1.085614599105611e-06, + "acceleration": 4.380710549867217e-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": 6.327176379272714e-06, + "observation_loss": 6.122725153545616e-06, + "chamfer": 5.064867764303926e-06, + "track": 1.0578575029285275e-06, + "acceleration": 2.0445109782940563e-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": 6.1947075664647855e-06, + "observation_loss": 5.847561169503024e-06, + "chamfer": 4.8473225433554035e-06, + "track": 1.0002386261476204e-06, + "acceleration": 3.471463401183428e-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": 5.852823051100131e-06, + "observation_loss": 5.666393462888664e-06, + "chamfer": 4.706918844021857e-06, + "track": 9.594745051799691e-07, + "acceleration": 1.864297729525788e-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": 5.7462520999251865e-06, + "observation_loss": 5.609590061794734e-06, + "chamfer": 4.663158506446052e-06, + "track": 9.464315553486813e-07, + "acceleration": 1.36661881811051e-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": 5.805144610349089e-06, + "observation_loss": 5.584499376709573e-06, + "chamfer": 4.643120519176591e-06, + "track": 9.413788006895629e-07, + "acceleration": 2.2064521942866122e-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": 5.703345777874347e-06, + "observation_loss": 5.442473593575414e-06, + "chamfer": 4.532532784651266e-06, + "track": 9.099408657675667e-07, + "acceleration": 2.6087207061209483e-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": 5.389359557739226e-06, + "observation_loss": 5.211448296904564e-06, + "chamfer": 4.349010396254016e-06, + "track": 8.624379006505478e-07, + "acceleration": 1.7791126083466224e-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": 5.25074665347347e-06, + "observation_loss": 5.1199403969803825e-06, + "chamfer": 4.268244083505124e-06, + "track": 8.516964271620964e-07, + "acceleration": 1.3080614280625014e-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": 5.400173449743306e-06, + "observation_loss": 5.258523742668331e-06, + "chamfer": 4.3637201088131405e-06, + "track": 8.94803690698609e-07, + "acceleration": 1.416498065509586e-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": 5.886998224013951e-06, + "observation_loss": 5.569618224399164e-06, + "chamfer": 4.592546702042455e-06, + "track": 9.77071294983034e-07, + "acceleration": 3.173801417233335e-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": 6.224331627890933e-06, + "observation_loss": 5.859713382960763e-06, + "chamfer": 4.80422431792249e-06, + "track": 1.0554890650382731e-06, + "acceleration": 3.646181028216233e-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": 6.2742774389334954e-06, + "observation_loss": 6.017386112944223e-06, + "chamfer": 4.923788310406962e-06, + "track": 1.0935975751635851e-06, + "acceleration": 2.568912691458536e-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": 6.540531558130169e-06, + "observation_loss": 6.034978468960617e-06, + "chamfer": 4.945791715726955e-06, + "track": 1.0891869806073373e-06, + "acceleration": 5.055532596998091e-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": 6.1638706938538235e-06, + "observation_loss": 5.962962859484833e-06, + "chamfer": 4.893933692073915e-06, + "track": 1.0690291674109176e-06, + "acceleration": 2.009079906883926e-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": 5.961474471405381e-06, + "observation_loss": 5.8888253988698125e-06, + "chamfer": 4.841279860556824e-06, + "track": 1.0475454246261506e-06, + "acceleration": 7.264885226732076e-08, + "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": 6.0227989706618246e-06, + "observation_loss": 5.963102012174204e-06, + "chamfer": 4.898805855191313e-06, + "track": 1.0642960432960535e-06, + "acceleration": 5.969699401475737e-08, + "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": 6.2338049247046e-06, + "observation_loss": 6.1390337577904575e-06, + "chamfer": 5.038208655605558e-06, + "track": 1.1008248748112237e-06, + "acceleration": 9.477128060098039e-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": 6.516560461022891e-06, + "observation_loss": 6.396117896656506e-06, + "chamfer": 5.227958354225848e-06, + "track": 1.1681593150569825e-06, + "acceleration": 1.2044239383612876e-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": 6.716912594129099e-06, + "observation_loss": 6.619506166316569e-06, + "chamfer": 5.401936959970044e-06, + "track": 1.2175693200333626e-06, + "acceleration": 9.740653439394009e-08, + "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": 7.104186806827784e-06, + "observation_loss": 6.935168130439706e-06, + "chamfer": 5.639509708998958e-06, + "track": 1.295658648814424e-06, + "acceleration": 1.690188327074793e-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": 7.2761395131237805e-06, + "observation_loss": 7.2162401920650154e-06, + "chamfer": 5.847523880220251e-06, + "track": 1.368716425531602e-06, + "acceleration": 5.989943474560278e-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": 7.636799637111835e-06, + "observation_loss": 7.2770449150993954e-06, + "chamfer": 5.9048866205557715e-06, + "track": 1.3721581808567862e-06, + "acceleration": 3.5975455148218316e-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": 7.3156797952833585e-06, + "observation_loss": 7.163500413298607e-06, + "chamfer": 5.838796823809389e-06, + "track": 1.3247033621155424e-06, + "acceleration": 1.5217935356304224e-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": 7.397442459478043e-06, + "observation_loss": 7.2135280788643286e-06, + "chamfer": 5.8813275245483965e-06, + "track": 1.3322006680027698e-06, + "acceleration": 1.8391428113773145e-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": 7.801589163136669e-06, + "observation_loss": 7.540376827819273e-06, + "chamfer": 6.119762929301942e-06, + "track": 1.4206138985173311e-06, + "acceleration": 2.612124205825239e-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": 8.07607011665823e-06, + "observation_loss": 7.890665983723011e-06, + "chamfer": 6.366075922414893e-06, + "track": 1.5245899476212799e-06, + "acceleration": 1.854044882065864e-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": 8.119784979498945e-06, + "observation_loss": 8.026727300602943e-06, + "chamfer": 6.444052360166097e-06, + "track": 1.5826747130631702e-06, + "acceleration": 9.305740888976288e-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": 8.205992344301194e-06, + "observation_loss": 8.161038749676663e-06, + "chamfer": 6.531701274070656e-06, + "track": 1.6293378166665207e-06, + "acceleration": 4.495316474617539e-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": 8.289130164484959e-06, + "observation_loss": 8.212542525143363e-06, + "chamfer": 6.562253474839963e-06, + "track": 1.6502891639902373e-06, + "acceleration": 7.658743328420314e-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": 8.313812941196375e-06, + "observation_loss": 8.21470075607067e-06, + "chamfer": 6.562976068380522e-06, + "track": 1.6517248013769859e-06, + "acceleration": 9.911238407767087e-08, + "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": 8.435755262325983e-06, + "observation_loss": 8.227242688008118e-06, + "chamfer": 6.5686717789503746e-06, + "track": 1.658571250118257e-06, + "acceleration": 2.0851271642641223e-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": 8.730818990443368e-06, + "observation_loss": 8.593378879595548e-06, + "chamfer": 6.819591362727806e-06, + "track": 1.7737872894940665e-06, + "acceleration": 1.3743978399816115e-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": 9.309716006100643e-06, + "observation_loss": 9.226354450220242e-06, + "chamfer": 7.2384736995445564e-06, + "track": 1.987880978049361e-06, + "acceleration": 8.336132140129848e-08, + "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": 9.976949513657019e-06, + "observation_loss": 9.705598131404258e-06, + "chamfer": 7.563221060991054e-06, + "track": 2.142377525160555e-06, + "acceleration": 2.713518370001111e-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": 9.711158782010898e-06, + "observation_loss": 9.555994438414928e-06, + "chamfer": 7.467072464351077e-06, + "track": 2.088921974063851e-06, + "acceleration": 1.5516407358973083e-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": 9.425580174138304e-06, + "observation_loss": 9.234482604369987e-06, + "chamfer": 7.268733952514594e-06, + "track": 1.965748879229068e-06, + "acceleration": 1.9109748450318875e-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": 9.015615432872437e-06, + "observation_loss": 8.96896017366089e-06, + "chamfer": 7.093807653291151e-06, + "track": 1.875152634056576e-06, + "acceleration": 4.665502117973119e-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": 8.796384463494178e-06, + "observation_loss": 8.74542001838563e-06, + "chamfer": 6.936284989933483e-06, + "track": 1.809134914765309e-06, + "acceleration": 5.096458721709496e-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": 8.750104825594462e-06, + "observation_loss": 8.690888535056729e-06, + "chamfer": 6.8900667429261375e-06, + "track": 1.8008216784437536e-06, + "acceleration": 5.921609513848125e-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": 8.960746527009178e-06, + "observation_loss": 8.736444215173833e-06, + "chamfer": 6.91554305376485e-06, + "track": 1.8209013887826586e-06, + "acceleration": 2.2430273816098634e-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": 9.418046829523519e-06, + "observation_loss": 8.771430657361634e-06, + "chamfer": 6.937832949915901e-06, + "track": 1.8335979348194087e-06, + "acceleration": 6.466165132223978e-07, + "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": 9.116317414736841e-06, + "observation_loss": 8.799356692179572e-06, + "chamfer": 6.9380666900542565e-06, + "track": 1.86128977475164e-06, + "acceleration": 3.1696075097897847e-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": 9.182997018797323e-06, + "observation_loss": 8.853123290464282e-06, + "chamfer": 6.973855761316372e-06, + "track": 1.8792679838952608e-06, + "acceleration": 3.2987406939355424e-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": 9.66966399573721e-06, + "observation_loss": 8.955708835856058e-06, + "chamfer": 7.024311344139278e-06, + "track": 1.9313974917167798e-06, + "acceleration": 7.139551598811522e-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": 1.0100255167344585e-05, + "observation_loss": 9.094238521356601e-06, + "chamfer": 7.121507678675698e-06, + "track": 1.9727310700545786e-06, + "acceleration": 1.0060167596748215e-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": 9.733083970786538e-06, + "observation_loss": 9.21407718124101e-06, + "chamfer": 7.205332622106653e-06, + "track": 2.0087443317606812e-06, + "acceleration": 5.190067327021097e-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": 9.650610991229769e-06, + "observation_loss": 9.470494660490658e-06, + "chamfer": 7.382760486507323e-06, + "track": 2.087734401357011e-06, + "acceleration": 1.8011610336543527e-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": 9.918759133142885e-06, + "observation_loss": 9.793014214665163e-06, + "chamfer": 7.5860752986045554e-06, + "track": 2.206938916060608e-06, + "acceleration": 1.257452737490894e-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": 1.0271505743730813e-05, + "observation_loss": 1.0215053407591768e-05, + "chamfer": 7.859389370423742e-06, + "track": 2.3556642645417014e-06, + "acceleration": 5.6452432062314983e-08, + "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": 1.042905387294013e-05, + "observation_loss": 1.0380973435530905e-05, + "chamfer": 7.959347385622095e-06, + "track": 2.421625822535134e-06, + "acceleration": 4.808044096193953e-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": 1.0673207725631073e-05, + "observation_loss": 1.0458190445206128e-05, + "chamfer": 7.998373803275172e-06, + "track": 2.4598161871836055e-06, + "acceleration": 2.1501701041870547e-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": 1.0644900612533092e-05, + "observation_loss": 1.0513103006815072e-05, + "chamfer": 8.000200068636332e-06, + "track": 2.5129029381787404e-06, + "acceleration": 1.317978473025505e-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": 1.0597659638733603e-05, + "observation_loss": 1.0516033398744185e-05, + "chamfer": 7.97890970716253e-06, + "track": 2.5371236915816553e-06, + "acceleration": 8.162640341424776e-08, + "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": 1.063974923454225e-05, + "observation_loss": 1.0388423106633127e-05, + "chamfer": 7.895893759268802e-06, + "track": 2.492528892616974e-06, + "acceleration": 2.513257584269013e-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": 1.0793506589834578e-05, + "observation_loss": 1.0167354957957286e-05, + "chamfer": 7.762682798784226e-06, + "track": 2.4046723865467357e-06, + "acceleration": 6.261512339733599e-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": 1.0486666724318638e-05, + "observation_loss": 1.0089847819472197e-05, + "chamfer": 7.704529707552865e-06, + "track": 2.385317884545657e-06, + "acceleration": 3.9681896168985986e-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": 1.0210173968516756e-05, + "observation_loss": 1.0015683983510826e-05, + "chamfer": 7.649313374713529e-06, + "track": 2.366370608797297e-06, + "acceleration": 1.9448998500593007e-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": 1.0456795280333608e-05, + "observation_loss": 9.93055527942488e-06, + "chamfer": 7.584708328067791e-06, + "track": 2.345846951357089e-06, + "acceleration": 5.262400009087287e-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": 1.0274294254486449e-05, + "observation_loss": 9.986972145270556e-06, + "chamfer": 7.635767360625323e-06, + "track": 2.3512043298978824e-06, + "acceleration": 2.873218818422174e-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": 1.0163320439460222e-05, + "observation_loss": 1.0075066711578984e-05, + "chamfer": 7.691305654589087e-06, + "track": 2.383761056989897e-06, + "acceleration": 8.825328023931434e-08, + "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": 1.0324381946702488e-05, + "observation_loss": 1.012068969430402e-05, + "chamfer": 7.688743608014192e-06, + "track": 2.431945631542476e-06, + "acceleration": 2.0369226660932327e-07, + "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": 1.0442930943099782e-05, + "observation_loss": 1.0203393685515039e-05, + "chamfer": 7.716569598414935e-06, + "track": 2.486823859726428e-06, + "acceleration": 2.395370870544866e-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": 1.0736633157648612e-05, + "observation_loss": 1.0505242244107649e-05, + "chamfer": 7.863221071602311e-06, + "track": 2.6420211725053377e-06, + "acceleration": 2.313906577455782e-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": 1.1046082363463938e-05, + "observation_loss": 1.083817369362805e-05, + "chamfer": 8.025754141272046e-06, + "track": 2.81241977972968e-06, + "acceleration": 2.0790869825759728e-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": 1.1351335160725284e-05, + "observation_loss": 1.1198899301234633e-05, + "chamfer": 8.227636499213986e-06, + "track": 2.971262574646971e-06, + "acceleration": 1.524354473758649e-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": 1.1489063581393566e-05, + "observation_loss": 1.1381447620806284e-05, + "chamfer": 8.316157618537545e-06, + "track": 3.065290002268739e-06, + "acceleration": 1.0761586111129873e-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": 1.1855688171635848e-05, + "observation_loss": 1.16005021482124e-05, + "chamfer": 8.453757800452877e-06, + "track": 3.146744120385847e-06, + "acceleration": 2.5518644974908966e-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": 1.2147562301834114e-05, + "observation_loss": 1.1937602721445728e-05, + "chamfer": 8.664687811688054e-06, + "track": 3.2729146823839983e-06, + "acceleration": 2.0995943827983865e-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": 1.2284043805266265e-05, + "observation_loss": 1.2197731848573312e-05, + "chamfer": 8.812105988909025e-06, + "track": 3.3856254049169365e-06, + "acceleration": 8.631214853949132e-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": 1.2397197679092642e-05, + "observation_loss": 1.2320265341259073e-05, + "chamfer": 8.872260877978988e-06, + "track": 3.44800423590641e-06, + "acceleration": 7.69326646832269e-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": 1.2467142369132489e-05, + "observation_loss": 1.2396785677992739e-05, + "chamfer": 8.92557181941811e-06, + "track": 3.4712136312009534e-06, + "acceleration": 7.035647797692945e-08, + "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": 1.2476726624299772e-05, + "observation_loss": 1.2410267117957119e-05, + "chamfer": 8.908254130801652e-06, + "track": 3.5020132145291427e-06, + "acceleration": 6.64598900357305e-08, + "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": 1.2475462426664308e-05, + "observation_loss": 1.2425365639501251e-05, + "chamfer": 8.893200174497906e-06, + "track": 3.5321650102559943e-06, + "acceleration": 5.0097135328996956e-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": 1.2548327504191548e-05, + "observation_loss": 1.2403390428517014e-05, + "chamfer": 8.884478120307904e-06, + "track": 3.5189120808354346e-06, + "acceleration": 1.4493691935513198e-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": 1.2516368769865949e-05, + "observation_loss": 1.2379340660118032e-05, + "chamfer": 8.87075384525815e-06, + "track": 3.5085870422335574e-06, + "acceleration": 1.370280529044976e-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": 1.2367811905278359e-05, + "observation_loss": 1.2354530554148369e-05, + "chamfer": 8.841589078656398e-06, + "track": 3.5129412481182953e-06, + "acceleration": 1.3281684196897459e-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": 1.2376652193779591e-05, + "observation_loss": 1.232178237842163e-05, + "chamfer": 8.810206054477021e-06, + "track": 3.511576096570934e-06, + "acceleration": 5.487008891691403e-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": 1.2433247320586815e-05, + "observation_loss": 1.230393536388874e-05, + "chamfer": 8.790698302618694e-06, + "track": 3.513237516017398e-06, + "acceleration": 1.2931214143918623e-07, + "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": 1.2326418072916567e-05, + "observation_loss": 1.2204322047182359e-05, + "chamfer": 8.734295079193544e-06, + "track": 3.4700265132414643e-06, + "acceleration": 1.2209565625198593e-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": 1.208513458550442e-05, + "observation_loss": 1.2050873920088634e-05, + "chamfer": 8.65349193190923e-06, + "track": 3.397382442926755e-06, + "acceleration": 3.426092831659844e-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": 9.332717153161715e-06, + "chamfer_mean": 6.4493810493596966e-06, + "track_mean": 1.8563138347952683e-06, + "acceleration_mean": 1.0270222447206212e-06, + "observation_score": 8.305694907543662e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4303003749992058 + }, + "score_arrays_file": "pass_scores/pass_end_0152.npz", + "score_arrays_sha256": "9b3fee9045f983673b77e8cce54cac231e6677df4ee4612d26f8db22f8412929" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0153.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0153.json new file mode 100644 index 0000000000000000000000000000000000000000..e40115af930ba5890afcf336d4444dd44e956679 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0153.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14688, + "completed_passes": 153, + "snapshot": "pass_end_0153", + "candidate": true, + "snapshot_arrays_sha256": "74d619162dfad9f0a0cba8cbe78a3f65e131399f62871f8cf1a6796d8be6c95e", + "score": 8.29313491360987e-06, + "score_result": { + "score": 8.29313491360987e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9494165119103855e-06, + 3.2719872251618654e-06, + 3.635911070887232e-06, + 4.375638127385173e-06, + 5.187593160371762e-06, + 5.572021109401248e-06, + 5.5582386266905814e-06, + 5.447204785014037e-06, + 5.27906877323403e-06, + 5.263172170089092e-06, + 5.461839009512914e-06, + 5.6677836255403236e-06, + 5.904238605580758e-06, + 6.062316970201209e-06, + 6.123264029156417e-06, + 6.2508220253221225e-06, + 6.102929091866827e-06, + 5.828736902913079e-06, + 5.648364094668068e-06, + 5.589326974586584e-06, + 5.5615109886275604e-06, + 5.4179922699404415e-06, + 5.188574505154975e-06, + 5.099201644043205e-06, + 5.235659045865759e-06, + 5.542711733141914e-06, + 5.831770067743491e-06, + 5.9922149375779554e-06, + 6.013496658852091e-06, + 5.94506309425924e-06, + 5.871144367119996e-06, + 5.946536475676112e-06, + 6.123607818153687e-06, + 6.38047913525952e-06, + 6.601284894713899e-06, + 6.914272944413824e-06, + 7.195919806690654e-06, + 7.25648169463966e-06, + 7.1404274422093295e-06, + 7.184037713159341e-06, + 7.507352165703196e-06, + 7.856241609260906e-06, + 7.993163308128715e-06, + 8.126194188662339e-06, + 8.177885320037603e-06, + 8.181208613677882e-06, + 8.195252121367957e-06, + 8.561709364585113e-06, + 9.194507583742961e-06, + 9.673125532572158e-06, + 9.525640052743256e-06, + 9.206265531247482e-06, + 8.941883606894407e-06, + 8.721438462089282e-06, + 8.668284863233566e-06, + 8.714671821508091e-06, + 8.750830602366477e-06, + 8.778883966442663e-06, + 8.832908861222677e-06, + 8.936273843573872e-06, + 9.07703179109376e-06, + 9.198870429827366e-06, + 9.45700412557926e-06, + 9.782585948414635e-06, + 1.0208583262283355e-05, + 1.037972469930537e-05, + 1.0462123100296594e-05, + 1.0521728654566687e-05, + 1.0528315215196926e-05, + 1.0402854059066158e-05, + 1.0182266123592854e-05, + 1.0107052730745636e-05, + 1.0033993021352217e-05, + 9.944496923708357e-06, + 9.99970143311657e-06, + 1.0087536793434992e-05, + 1.0130613190995064e-05, + 1.0209793799731415e-05, + 1.0509817911952268e-05, + 1.0839446986210532e-05, + 1.1200030712643638e-05, + 1.1382436241547111e-05, + 1.1599840036069509e-05, + 1.193623393191956e-05, + 1.2197467185615096e-05, + 1.2319973393459804e-05, + 1.2397228601912502e-05, + 1.2411389434419107e-05, + 1.2426251487340778e-05, + 1.240597430296475e-05, + 1.2382341083139181e-05, + 1.2357213563518599e-05, + 1.2324392628215719e-05, + 1.2307416000112426e-05, + 1.2207758118165657e-05, + 1.2055483239237219e-05 + ] + ], + "episode_mean_losses": [ + 8.29313491360987e-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": 2.9494165119103855e-06, + "observation_loss": 2.9494165119103855e-06, + "chamfer": 2.5016622657858534e-06, + "track": 4.4775430296795093e-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": 4.325362169765867e-05, + "observation_loss": 3.2719872251618654e-06, + "chamfer": 2.7680025596055202e-06, + "track": 5.039845518695074e-07, + "acceleration": 3.998163447249681e-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": 2.5974355594371445e-05, + "observation_loss": 3.635911070887232e-06, + "chamfer": 3.071195578741026e-06, + "track": 5.647153784593684e-07, + "acceleration": 2.2338444978231564e-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": 1.2247346603544429e-05, + "observation_loss": 4.375638127385173e-06, + "chamfer": 3.6602284581022104e-06, + "track": 7.15409498752706e-07, + "acceleration": 7.871708476159256e-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": 9.631231478124391e-06, + "observation_loss": 5.187593160371762e-06, + "chamfer": 4.279519998817705e-06, + "track": 9.080732752408949e-07, + "acceleration": 4.4436383177526295e-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": 7.192627890617587e-06, + "observation_loss": 5.572021109401248e-06, + "chamfer": 4.555594387056772e-06, + "track": 1.0164264949708013e-06, + "acceleration": 1.6206067812163383e-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": 6.6377556322549935e-06, + "observation_loss": 5.5582386266905814e-06, + "chamfer": 4.520996299106628e-06, + "track": 1.0372425549576292e-06, + "acceleration": 1.079517005564412e-06, + "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": 6.0677712099277414e-06, + "observation_loss": 5.447204785014037e-06, + "chamfer": 4.429349701240426e-06, + "track": 1.0178553111472866e-06, + "acceleration": 6.205663680702855e-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": 6.221635885594878e-06, + "observation_loss": 5.27906877323403e-06, + "chamfer": 4.305520178604638e-06, + "track": 9.735484809425543e-07, + "acceleration": 9.425673397345236e-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": 5.968439381831558e-06, + "observation_loss": 5.263172170089092e-06, + "chamfer": 4.310474650992546e-06, + "track": 9.526976896268025e-07, + "acceleration": 7.052670980556286e-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": 5.8393038671056274e-06, + "observation_loss": 5.461839009512914e-06, + "chamfer": 4.489729690249078e-06, + "track": 9.72109432950674e-07, + "acceleration": 3.7746474390587537e-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": 6.1429227571352385e-06, + "observation_loss": 5.6677836255403236e-06, + "chamfer": 4.662266746890964e-06, + "track": 1.0055168786493596e-06, + "acceleration": 4.751393021251715e-07, + "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": 6.223083801160101e-06, + "observation_loss": 5.904238605580758e-06, + "chamfer": 4.8676010919734836e-06, + "track": 1.0366375136072747e-06, + "acceleration": 3.188453376878897e-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": 6.363758984662127e-06, + "observation_loss": 6.062316970201209e-06, + "chamfer": 5.0046674004988745e-06, + "track": 1.0576493423286593e-06, + "acceleration": 3.014421565694647e-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": 6.694945113849826e-06, + "observation_loss": 6.123264029156417e-06, + "chamfer": 5.0624839786905795e-06, + "track": 1.0607799367789994e-06, + "acceleration": 5.716813120670849e-07, + "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": 6.668594323855359e-06, + "observation_loss": 6.2508220253221225e-06, + "chamfer": 5.17034550284734e-06, + "track": 1.0804764087879448e-06, + "acceleration": 4.1777215642468946e-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": 6.309048330876976e-06, + "observation_loss": 6.102929091866827e-06, + "chamfer": 5.0499552344263066e-06, + "track": 1.05297385744052e-06, + "acceleration": 2.061190400581836e-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": 6.179780939419288e-06, + "observation_loss": 5.828736902913079e-06, + "chamfer": 4.832784270547563e-06, + "track": 9.9595240499184e-07, + "acceleration": 3.5104389439766237e-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": 5.835350748384371e-06, + "observation_loss": 5.648364094668068e-06, + "chamfer": 4.6927452785894275e-06, + "track": 9.55619043452316e-07, + "acceleration": 1.8698651160775626e-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": 5.727200914407149e-06, + "observation_loss": 5.589326974586584e-06, + "chamfer": 4.646995421353495e-06, + "track": 9.423313258594135e-07, + "acceleration": 1.3787409613996715e-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": 5.783555025118403e-06, + "observation_loss": 5.5615109886275604e-06, + "chamfer": 4.624834673450096e-06, + "track": 9.366763151774649e-07, + "acceleration": 2.2204417859938985e-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": 5.6836647672753315e-06, + "observation_loss": 5.4179922699404415e-06, + "chamfer": 4.512809482548619e-06, + "track": 9.051829010786605e-07, + "acceleration": 2.656723268046335e-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": 5.36815468876739e-06, + "observation_loss": 5.188574505154975e-06, + "chamfer": 4.3304803512000944e-06, + "track": 8.580941539548803e-07, + "acceleration": 1.7958018361241557e-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": 5.2311920626380015e-06, + "observation_loss": 5.099201644043205e-06, + "chamfer": 4.251466179994168e-06, + "track": 8.47735293518781e-07, + "acceleration": 1.3199026227539434e-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": 5.37807591172168e-06, + "observation_loss": 5.235659045865759e-06, + "chamfer": 4.3453355829115026e-06, + "track": 8.903236334845133e-07, + "acceleration": 1.4241675216908334e-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": 5.861643330717925e-06, + "observation_loss": 5.542711733141914e-06, + "chamfer": 4.571289082377916e-06, + "track": 9.7142253707716e-07, + "acceleration": 3.189317396845581e-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": 6.198311893967912e-06, + "observation_loss": 5.831770067743491e-06, + "chamfer": 4.782178166351514e-06, + "track": 1.0495917877051397e-06, + "acceleration": 3.6654174095929193e-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": 6.2530448303732555e-06, + "observation_loss": 5.9922149375779554e-06, + "chamfer": 4.9038776523957495e-06, + "track": 1.0883375125558814e-06, + "acceleration": 2.6083000648213783e-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": 6.520794158859644e-06, + "observation_loss": 6.013496658852091e-06, + "chamfer": 4.928881480736891e-06, + "track": 1.0846151781152003e-06, + "acceleration": 5.072973294772964e-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": 6.147954991320148e-06, + "observation_loss": 5.94506309425924e-06, + "chamfer": 4.879834705207031e-06, + "track": 1.0652283890522085e-06, + "acceleration": 2.0289203916945553e-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": 5.94744369664113e-06, + "observation_loss": 5.871144367119996e-06, + "chamfer": 4.8271158448187634e-06, + "track": 1.0440286359880702e-06, + "acceleration": 7.629927978314299e-08, + "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": 6.0100423979747575e-06, + "observation_loss": 5.946536475676112e-06, + "chamfer": 4.885402631771285e-06, + "track": 1.0611339575916645e-06, + "acceleration": 6.350603598548332e-08, + "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": 6.221815965545829e-06, + "observation_loss": 6.123607818153687e-06, + "chamfer": 5.025656264479039e-06, + "track": 1.0979516673614853e-06, + "acceleration": 9.820835344953593e-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": 6.503663826151751e-06, + "observation_loss": 6.38047913525952e-06, + "chamfer": 5.215369583311258e-06, + "track": 1.1651096656351e-06, + "acceleration": 1.2318491826590616e-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": 6.698577635688707e-06, + "observation_loss": 6.601284894713899e-06, + "chamfer": 5.387390501709888e-06, + "track": 1.2138942793171736e-06, + "acceleration": 9.729293282134677e-08, + "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": 7.0826222327013966e-06, + "observation_loss": 6.914272944413824e-06, + "chamfer": 5.622925073112128e-06, + "track": 1.2913479849885334e-06, + "acceleration": 1.683495014503933e-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": 7.256479875650257e-06, + "observation_loss": 7.195919806690654e-06, + "chamfer": 5.831588168803137e-06, + "track": 1.364331637887517e-06, + "acceleration": 6.056022527900495e-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": 7.615258709847694e-06, + "observation_loss": 7.25648169463966e-06, + "chamfer": 5.888836767553585e-06, + "track": 1.3676450407729135e-06, + "acceleration": 3.58776958364615e-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": 7.293147518794285e-06, + "observation_loss": 7.1404274422093295e-06, + "chamfer": 5.82084248890169e-06, + "track": 1.319584839620802e-06, + "acceleration": 1.5272013342837454e-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": 7.368446404143469e-06, + "observation_loss": 7.184037713159341e-06, + "chamfer": 5.858257281943224e-06, + "track": 1.3257806585897924e-06, + "acceleration": 1.8440881888182048e-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": 7.768943760311231e-06, + "observation_loss": 7.507352165703196e-06, + "chamfer": 6.094588115956867e-06, + "track": 1.4127642771200044e-06, + "acceleration": 2.6159142407777836e-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": 8.0429163062945e-06, + "observation_loss": 7.856241609260906e-06, + "chamfer": 6.3397114899999e-06, + "track": 1.516530460321519e-06, + "acceleration": 1.8667444123821042e-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": 8.085849913186394e-06, + "observation_loss": 7.993163308128715e-06, + "chamfer": 6.418538305297261e-06, + "track": 1.5746248891446157e-06, + "acceleration": 9.268651979255083e-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": 8.171296030923259e-06, + "observation_loss": 8.126194188662339e-06, + "chamfer": 6.505349119834136e-06, + "track": 1.620844955141365e-06, + "acceleration": 4.5101501200406346e-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": 8.254100066551473e-06, + "observation_loss": 8.177885320037603e-06, + "chamfer": 6.536056389450096e-06, + "track": 1.64182881690067e-06, + "acceleration": 7.621517994493843e-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": 8.281055670522619e-06, + "observation_loss": 8.181208613677882e-06, + "chamfer": 6.537712124554673e-06, + "track": 1.6434961480626953e-06, + "acceleration": 9.984710658272888e-08, + "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": 8.403508218179923e-06, + "observation_loss": 8.195252121367957e-06, + "chamfer": 6.544645202666288e-06, + "track": 1.6506068050148315e-06, + "acceleration": 2.082559120708538e-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": 8.699988029547967e-06, + "observation_loss": 8.561709364585113e-06, + "chamfer": 6.7961218519485556e-06, + "track": 1.7655872852628818e-06, + "acceleration": 1.382788070714014e-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": 9.277314347855281e-06, + "observation_loss": 9.194507583742961e-06, + "chamfer": 7.215593086584704e-06, + "track": 1.978914951905608e-06, + "acceleration": 8.280692753714902e-08, + "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": 9.944287739926949e-06, + "observation_loss": 9.673125532572158e-06, + "chamfer": 7.540006663475651e-06, + "track": 2.1331184143491555e-06, + "acceleration": 2.7116192313769716e-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": 9.680274160928093e-06, + "observation_loss": 9.525640052743256e-06, + "chamfer": 7.445391020155512e-06, + "track": 2.080249487335095e-06, + "acceleration": 1.5463415081740095e-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": 9.398137081007008e-06, + "observation_loss": 9.206265531247482e-06, + "chamfer": 7.248387646541232e-06, + "track": 1.9578783394536003e-06, + "acceleration": 1.9187184818747482e-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": 8.988566150947008e-06, + "observation_loss": 8.941883606894407e-06, + "chamfer": 7.074065706547117e-06, + "track": 1.8678176729736151e-06, + "acceleration": 4.6682856691404595e-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": 8.772996807238087e-06, + "observation_loss": 8.721438462089282e-06, + "chamfer": 6.918823601154145e-06, + "track": 1.8026152019956498e-06, + "acceleration": 5.1558775027160664e-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": 8.727514796191826e-06, + "observation_loss": 8.668284863233566e-06, + "chamfer": 6.873668098705821e-06, + "track": 1.7946164234672324e-06, + "acceleration": 5.922948176362297e-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": 8.897205589164514e-06, + "observation_loss": 8.714671821508091e-06, + "chamfer": 6.899884738231776e-06, + "track": 1.814786969589477e-06, + "acceleration": 1.825341939820646e-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": 9.23481729842024e-06, + "observation_loss": 8.750830602366477e-06, + "chamfer": 6.923103228473337e-06, + "track": 1.8277270328326267e-06, + "acceleration": 4.8398629814983e-07, + "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": 9.0561225079e-06, + "observation_loss": 8.778883966442663e-06, + "chamfer": 6.9233828980941325e-06, + "track": 1.8555007272880175e-06, + "acceleration": 2.77238910939559e-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": 9.165295523416717e-06, + "observation_loss": 8.832908861222677e-06, + "chamfer": 6.959502115932992e-06, + "track": 1.8734065179160098e-06, + "acceleration": 3.323865769289114e-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": 9.654601853981148e-06, + "observation_loss": 8.936273843573872e-06, + "chamfer": 7.0108953877934255e-06, + "track": 1.925378683154122e-06, + "acceleration": 7.183276125033444e-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": 1.0086034308187664e-05, + "observation_loss": 9.07703179109376e-06, + "chamfer": 7.109832040441688e-06, + "track": 1.967199750652071e-06, + "acceleration": 1.0090022897202289e-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": 9.717812645249069e-06, + "observation_loss": 9.198870429827366e-06, + "chamfer": 7.195093530754093e-06, + "track": 2.0037771264469484e-06, + "acceleration": 5.189419880480273e-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": 9.636456525186077e-06, + "observation_loss": 9.45700412557926e-06, + "chamfer": 7.373707376245875e-06, + "track": 2.0832972040807363e-06, + "acceleration": 1.7945257013707305e-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": 9.90888202068163e-06, + "observation_loss": 9.782585948414635e-06, + "chamfer": 7.579016710224096e-06, + "track": 2.203569238190539e-06, + "acceleration": 1.262960580561412e-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": 1.0265010132570751e-05, + "observation_loss": 1.0208583262283355e-05, + "chamfer": 7.855239346099552e-06, + "track": 2.3533434614364523e-06, + "acceleration": 5.642729661303747e-08, + "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": 1.0428165296616498e-05, + "observation_loss": 1.037972469930537e-05, + "chamfer": 7.95886262494605e-06, + "track": 2.42086207435932e-06, + "acceleration": 4.8440817579376017e-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": 1.0678547369025182e-05, + "observation_loss": 1.0462123100296594e-05, + "chamfer": 8.001247806532774e-06, + "track": 2.4608755211374955e-06, + "acceleration": 2.1642405556576705e-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": 1.0654648576746695e-05, + "observation_loss": 1.0521728654566687e-05, + "chamfer": 8.006391908566002e-06, + "track": 2.5153365186270094e-06, + "acceleration": 1.3292032008394017e-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": 1.0610804565658327e-05, + "observation_loss": 1.0528315215196926e-05, + "chamfer": 7.987700882949866e-06, + "track": 2.5406141048733843e-06, + "acceleration": 8.248908045516146e-08, + "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": 1.0655565347406082e-05, + "observation_loss": 1.0402854059066158e-05, + "chamfer": 7.905990969447885e-06, + "track": 2.4968633169919485e-06, + "acceleration": 2.527116862438561e-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": 1.081273967429297e-05, + "observation_loss": 1.0182266123592854e-05, + "chamfer": 7.772508979542181e-06, + "track": 2.409757371424348e-06, + "acceleration": 6.304737212303735e-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": 1.050986520567676e-05, + "observation_loss": 1.0107052730745636e-05, + "chamfer": 7.715994797763415e-06, + "track": 2.3910579329822212e-06, + "acceleration": 4.0281290125676605e-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": 1.0238889444735833e-05, + "observation_loss": 1.0033993021352217e-05, + "chamfer": 7.66141056374181e-06, + "track": 2.372582912357757e-06, + "acceleration": 2.0489652285959892e-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": 1.0556233064562548e-05, + "observation_loss": 9.944496923708357e-06, + "chamfer": 7.593047484988347e-06, + "track": 2.3514496660936857e-06, + "acceleration": 6.117358566370967e-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": 1.0331405064789578e-05, + "observation_loss": 9.99970143311657e-06, + "chamfer": 7.643741810170468e-06, + "track": 2.3559598503197776e-06, + "acceleration": 3.3170340429933276e-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": 1.0185531209572218e-05, + "observation_loss": 1.0087536793434992e-05, + "chamfer": 7.6993665061309e-06, + "track": 2.388170742051443e-06, + "acceleration": 9.799476430316645e-08, + "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": 1.0345045666326769e-05, + "observation_loss": 1.0130613190995064e-05, + "chamfer": 7.694949999859091e-06, + "track": 2.4356631911359727e-06, + "acceleration": 2.1443277375965408e-07, + "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": 1.0452616152178962e-05, + "observation_loss": 1.0209793799731415e-05, + "chamfer": 7.720948815403972e-06, + "track": 2.488844984327443e-06, + "acceleration": 2.428226082429319e-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": 1.0743212442321237e-05, + "observation_loss": 1.0509817911952268e-05, + "chamfer": 7.866900887165684e-06, + "track": 2.6429167974129086e-06, + "acceleration": 2.3339435983871226e-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": 1.1045004612242337e-05, + "observation_loss": 1.0839446986210532e-05, + "chamfer": 8.02740305516636e-06, + "track": 2.8120434762968216e-06, + "acceleration": 2.0555719970616337e-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": 1.1350991371728014e-05, + "observation_loss": 1.1200030712643638e-05, + "chamfer": 8.228780643548816e-06, + "track": 2.9712505238421727e-06, + "acceleration": 1.5096082961463253e-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": 1.1492576049931813e-05, + "observation_loss": 1.1382436241547111e-05, + "chamfer": 8.317414540215395e-06, + "track": 3.065021701331716e-06, + "acceleration": 1.1013985812269311e-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": 1.1855731827381533e-05, + "observation_loss": 1.1599840036069509e-05, + "chamfer": 8.453999726043548e-06, + "track": 3.14584031002596e-06, + "acceleration": 2.558919049988617e-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": 1.2143480489612557e-05, + "observation_loss": 1.193623393191956e-05, + "chamfer": 8.665054338052869e-06, + "track": 3.271179593866691e-06, + "acceleration": 2.0724615978906513e-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": 1.2284227523196023e-05, + "observation_loss": 1.2197467185615096e-05, + "chamfer": 8.813441127131227e-06, + "track": 3.3840262858575443e-06, + "acceleration": 8.676002494212298e-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": 1.2396863894537091e-05, + "observation_loss": 1.2319973393459804e-05, + "chamfer": 8.873558726918418e-06, + "track": 3.446414893915062e-06, + "acceleration": 7.689038739044918e-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": 1.2467581655073445e-05, + "observation_loss": 1.2397228601912502e-05, + "chamfer": 8.927604540076572e-06, + "track": 3.4696238344622543e-06, + "acceleration": 7.035262683530163e-08, + "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": 1.2478169992391486e-05, + "observation_loss": 1.2411389434419107e-05, + "chamfer": 8.910789802030195e-06, + "track": 3.5005994050152367e-06, + "acceleration": 6.678097719259313e-08, + "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": 1.247602813236881e-05, + "observation_loss": 1.2426251487340778e-05, + "chamfer": 8.895560313249007e-06, + "track": 3.5306907193444204e-06, + "acceleration": 4.9776730293160654e-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": 1.2549024177133106e-05, + "observation_loss": 1.240597430296475e-05, + "chamfer": 8.887485819286667e-06, + "track": 3.5184887110517593e-06, + "acceleration": 1.4305020101801347e-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": 1.2515931302914396e-05, + "observation_loss": 1.2382341083139181e-05, + "chamfer": 8.873982551449444e-06, + "track": 3.508358986437088e-06, + "acceleration": 1.335900492449582e-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": 1.2369331670925021e-05, + "observation_loss": 1.2357213563518599e-05, + "chamfer": 8.844620424497407e-06, + "track": 3.5125931390211917e-06, + "acceleration": 1.2118062109323091e-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": 1.238034019479528e-05, + "observation_loss": 1.2324392628215719e-05, + "chamfer": 8.81330925039947e-06, + "track": 3.511083605189924e-06, + "acceleration": 5.594722196633484e-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": 1.2439201782399323e-05, + "observation_loss": 1.2307416000112426e-05, + "chamfer": 8.794307177595329e-06, + "track": 3.513108822517097e-06, + "acceleration": 1.3178573965433316e-07, + "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": 1.2331255675235298e-05, + "observation_loss": 1.2207758118165657e-05, + "chamfer": 8.737804819247685e-06, + "track": 3.4699532989179716e-06, + "acceleration": 1.2349775602160662e-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": 1.2088865332771093e-05, + "observation_loss": 1.2055483239237219e-05, + "chamfer": 8.657849321025424e-06, + "track": 3.3976334634644445e-06, + "acceleration": 3.338220722071128e-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": 9.318113998328196e-06, + "chamfer_mean": 6.440071215270867e-06, + "track_mean": 1.8530637119577402e-06, + "acceleration_mean": 1.0249791100406618e-06, + "observation_score": 8.29313491360987e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4304454069988424 + }, + "score_arrays_file": "pass_scores/pass_end_0153.npz", + "score_arrays_sha256": "67a101277c152d8488362f6c87566c1b6fc6f2086376c81cfb793d5d13393a09" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0154.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0154.json new file mode 100644 index 0000000000000000000000000000000000000000..6dc5e8970252a70b6b65b233ba714e9609f9c89b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0154.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14784, + "completed_passes": 154, + "snapshot": "pass_end_0154", + "candidate": true, + "snapshot_arrays_sha256": "5201119e449f7b40fe9a7382605d107169d4bc9d2221a96e3af1d17a0dc94ee6", + "score": 8.278744504745342e-06, + "score_result": { + "score": 8.278744504745342e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9489840471796924e-06, + 3.269500666647218e-06, + 3.6313163036538754e-06, + 4.3623822421068326e-06, + 5.169761152501451e-06, + 5.552274160436355e-06, + 5.53592781216139e-06, + 5.425383278634399e-06, + 5.259405043034349e-06, + 5.244679869065294e-06, + 5.445053375296993e-06, + 5.65402842767071e-06, + 5.890233751415508e-06, + 6.047293027222622e-06, + 6.105258307798067e-06, + 6.231438874237938e-06, + 6.083704647608101e-06, + 5.810276434203843e-06, + 5.630691248370567e-06, + 5.5696414165140595e-06, + 5.539604899240658e-06, + 5.394611434894614e-06, + 5.1669394451892e-06, + 5.079431957710767e-06, + 5.214127668295987e-06, + 5.517416866496205e-06, + 5.805753062304575e-06, + 5.969361609459156e-06, + 5.993303602735978e-06, + 5.928728569415398e-06, + 5.854642949998379e-06, + 5.930146471655462e-06, + 6.108652542025084e-06, + 6.364557521010283e-06, + 6.5828708102344535e-06, + 6.893420504638925e-06, + 7.175362952693831e-06, + 7.235288649098948e-06, + 7.1162389758683275e-06, + 7.15436044629314e-06, + 7.474267931684153e-06, + 7.821456165402196e-06, + 7.957925845403224e-06, + 8.089968105196021e-06, + 8.141648322634865e-06, + 8.146763320837636e-06, + 8.162876838468947e-06, + 8.53034362080507e-06, + 9.163551112578716e-06, + 9.642133591114543e-06, + 9.496148777543567e-06, + 9.178305845125578e-06, + 8.914407771953847e-06, + 8.695303222339135e-06, + 8.642678949399851e-06, + 8.6897962319199e-06, + 8.727490239834879e-06, + 8.75573095981963e-06, + 8.810809049464297e-06, + 8.915370017348323e-06, + 9.057478564500343e-06, + 9.181283530779183e-06, + 9.441135262022726e-06, + 9.77004583546659e-06, + 1.0200425094808452e-05, + 1.0376230420661159e-05, + 1.0463625585543923e-05, + 1.0527559425099753e-05, + 1.0537478374317288e-05, + 1.0413009476906154e-05, + 1.0192708032263909e-05, + 1.0118795216840226e-05, + 1.0048064723378047e-05, + 9.951268111763056e-06, + 1.000611882773228e-05, + 1.0093497621710412e-05, + 1.0133715477422811e-05, + 1.0209055290033575e-05, + 1.0507652405067347e-05, + 1.083462848328054e-05, + 1.1195239494554698e-05, + 1.137898834713269e-05, + 1.1594283932936378e-05, + 1.1929289030376822e-05, + 1.2191530913696624e-05, + 1.231423630088102e-05, + 1.2391443306114525e-05, + 1.2406382666085847e-05, + 1.2421387509675696e-05, + 1.2402242646203376e-05, + 1.237969900103053e-05, + 1.2353928468655795e-05, + 1.2321495887590572e-05, + 1.2305300515436102e-05, + 1.2206121937197167e-05, + 1.2055095794494264e-05 + ] + ], + "episode_mean_losses": [ + 8.278744504745342e-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": 2.9489840471796924e-06, + "observation_loss": 2.9489840471796924e-06, + "chamfer": 2.501305061741732e-06, + "track": 4.476790422813792e-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": 4.31872540502809e-05, + "observation_loss": 3.269500666647218e-06, + "chamfer": 2.765897079370916e-06, + "track": 5.036036441197211e-07, + "acceleration": 3.991775156464428e-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": 2.5918607207131572e-05, + "observation_loss": 3.6313163036538754e-06, + "chamfer": 3.0674566460220376e-06, + "track": 5.63859543945e-07, + "acceleration": 2.2287291358225048e-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": 1.222159517055843e-05, + "observation_loss": 4.3623822421068326e-06, + "chamfer": 3.6499486668617465e-06, + "track": 7.12433632088505e-07, + "acceleration": 7.859212928451598e-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": 9.618757758289576e-06, + "observation_loss": 5.169761152501451e-06, + "chamfer": 4.266477844794281e-06, + "track": 9.032834782374266e-07, + "acceleration": 4.448996151040774e-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": 7.170098342612619e-06, + "observation_loss": 5.552274160436355e-06, + "chamfer": 4.542288479569834e-06, + "track": 1.0099859082401963e-06, + "acceleration": 1.6178240684894263e-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": 6.608624062209856e-06, + "observation_loss": 5.53592781216139e-06, + "chamfer": 4.5062533899908885e-06, + "track": 1.0296746495441766e-06, + "acceleration": 1.0726960226747906e-06, + "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": 6.0483489505713806e-06, + "observation_loss": 5.425383278634399e-06, + "chamfer": 4.414971499500098e-06, + "track": 1.0104116654474637e-06, + "acceleration": 6.229657856238191e-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": 6.197690709086601e-06, + "observation_loss": 5.259405043034349e-06, + "chamfer": 4.292603534850059e-06, + "track": 9.668016218711273e-07, + "acceleration": 9.382854955219955e-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": 5.94105677009793e-06, + "observation_loss": 5.244679869065294e-06, + "chamfer": 4.297966370359063e-06, + "track": 9.467133850193932e-07, + "acceleration": 6.963767305023794e-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": 5.819320449518273e-06, + "observation_loss": 5.445053375296993e-06, + "chamfer": 4.4780799726140685e-06, + "track": 9.669735163697624e-07, + "acceleration": 3.7426713106469833e-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": 6.119819317973452e-06, + "observation_loss": 5.65402842767071e-06, + "chamfer": 4.653001724364003e-06, + "track": 1.001026589619869e-06, + "acceleration": 4.6579094714616076e-07, + "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": 6.1951441239216365e-06, + "observation_loss": 5.890233751415508e-06, + "chamfer": 4.858050488110166e-06, + "track": 1.0321832633053418e-06, + "acceleration": 3.049105146146758e-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": 6.356292942655273e-06, + "observation_loss": 6.047293027222622e-06, + "chamfer": 4.994065875507658e-06, + "track": 1.0532271517149638e-06, + "acceleration": 3.090000006977789e-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": 6.675149961665738e-06, + "observation_loss": 6.105258307798067e-06, + "chamfer": 5.04930540046189e-06, + "track": 1.0559529073361773e-06, + "acceleration": 5.69891767554509e-07, + "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": 6.631461474171374e-06, + "observation_loss": 6.231438874237938e-06, + "chamfer": 5.15589954375173e-06, + "track": 1.075539444173046e-06, + "acceleration": 4.0002262835514557e-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": 6.291430963756284e-06, + "observation_loss": 6.083704647608101e-06, + "chamfer": 5.0354519771644846e-06, + "track": 1.048252556756779e-06, + "acceleration": 2.077265151001484e-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": 6.1644350353162736e-06, + "observation_loss": 5.810276434203843e-06, + "chamfer": 4.818534762307536e-06, + "track": 9.91741558209469e-07, + "acceleration": 3.541586011124309e-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": 5.81867288929061e-06, + "observation_loss": 5.630691248370567e-06, + "chamfer": 4.678839104599319e-06, + "track": 9.518520869278291e-07, + "acceleration": 1.8798178302859014e-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": 5.708634489565156e-06, + "observation_loss": 5.5696414165140595e-06, + "chamfer": 4.631261163012823e-06, + "track": 9.383801398143987e-07, + "acceleration": 1.3899297357511387e-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": 5.763292847404955e-06, + "observation_loss": 5.539604899240658e-06, + "chamfer": 4.607404662237968e-06, + "track": 9.322002938461083e-07, + "acceleration": 2.2368791974258784e-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": 5.663929641741561e-06, + "observation_loss": 5.394611434894614e-06, + "chamfer": 4.493934284255374e-06, + "track": 9.006769232655643e-07, + "acceleration": 2.6931829211207514e-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": 5.347680144041078e-06, + "observation_loss": 5.1669394451892e-06, + "chamfer": 4.312926648708526e-06, + "track": 8.540129670109309e-07, + "acceleration": 1.8074061358674953e-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": 5.212273208599072e-06, + "observation_loss": 5.079431957710767e-06, + "chamfer": 4.235444521327736e-06, + "track": 8.439874363830313e-07, + "acceleration": 1.3284112299061235e-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": 5.3568346629617736e-06, + "observation_loss": 5.214127668295987e-06, + "chamfer": 4.328002887632465e-06, + "track": 8.861248943503597e-07, + "acceleration": 1.4270682413553004e-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": 5.837351636728272e-06, + "observation_loss": 5.517416866496205e-06, + "chamfer": 4.551309757516719e-06, + "track": 9.661069952926482e-07, + "acceleration": 3.1993499760574196e-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": 6.1736673160339706e-06, + "observation_loss": 5.805753062304575e-06, + "chamfer": 4.761591299029533e-06, + "track": 1.04416187696188e-06, + "acceleration": 3.679143674162333e-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": 6.23307641944848e-06, + "observation_loss": 5.969361609459156e-06, + "chamfer": 4.885780072072521e-06, + "track": 1.083581651073473e-06, + "acceleration": 2.6371461103735783e-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": 6.502097676275298e-06, + "observation_loss": 5.993303602735978e-06, + "chamfer": 4.9129898798128124e-06, + "track": 1.080313836610003e-06, + "acceleration": 5.087939598524827e-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": 6.132546786830062e-06, + "observation_loss": 5.928728569415398e-06, + "chamfer": 4.866999461228261e-06, + "track": 1.0617293355608126e-06, + "acceleration": 2.0381841636663012e-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": 5.933251031819964e-06, + "observation_loss": 5.854642949998379e-06, + "chamfer": 4.813881332665915e-06, + "track": 1.0407613899587886e-06, + "acceleration": 7.860797524017471e-08, + "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": 5.996518211759394e-06, + "observation_loss": 5.930146471655462e-06, + "chamfer": 4.872152203461155e-06, + "track": 1.057994154507469e-06, + "acceleration": 6.63717401039321e-08, + "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": 6.20865284872707e-06, + "observation_loss": 6.108652542025084e-06, + "chamfer": 5.013505415263353e-06, + "track": 1.0951471267617308e-06, + "acceleration": 1.000005269702342e-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": 6.4885816755122505e-06, + "observation_loss": 6.364557521010283e-06, + "chamfer": 5.202538886805996e-06, + "track": 1.1620188615779625e-06, + "acceleration": 1.2402415450196713e-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": 6.680630121991271e-06, + "observation_loss": 6.5828708102344535e-06, + "chamfer": 5.372653049562359e-06, + "track": 1.2102179880457697e-06, + "acceleration": 9.77592833351082e-08, + "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": 7.061734322633129e-06, + "observation_loss": 6.893420504638925e-06, + "chamfer": 5.6062940529955085e-06, + "track": 1.2871262242697412e-06, + "acceleration": 1.6831374693992984e-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": 7.236250894493423e-06, + "observation_loss": 7.175362952693831e-06, + "chamfer": 5.815478289150633e-06, + "track": 1.359884777230036e-06, + "acceleration": 6.088777126933564e-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": 7.593725513288518e-06, + "observation_loss": 7.235288649098948e-06, + "chamfer": 5.872222118341597e-06, + "track": 1.3630666444441886e-06, + "acceleration": 3.584368073461519e-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": 7.270682544913143e-06, + "observation_loss": 7.1162389758683275e-06, + "chamfer": 5.801886345579987e-06, + "track": 1.3143526302883402e-06, + "acceleration": 1.5444334167113993e-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": 7.339297098951647e-06, + "observation_loss": 7.15436044629314e-06, + "chamfer": 5.83504743190133e-06, + "track": 1.319312900704972e-06, + "acceleration": 1.849365389716695e-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": 7.736498446320184e-06, + "observation_loss": 7.474267931684153e-06, + "chamfer": 6.069358278182335e-06, + "track": 1.4049097671886557e-06, + "acceleration": 2.6223082727483416e-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": 8.008364602574147e-06, + "observation_loss": 7.821456165402196e-06, + "chamfer": 6.313109224720392e-06, + "track": 1.5083473954291549e-06, + "acceleration": 1.8690828085254907e-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": 8.049929419939872e-06, + "observation_loss": 7.957925845403224e-06, + "chamfer": 6.391766419255873e-06, + "track": 1.566159880894702e-06, + "acceleration": 9.200334005754485e-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": 8.13559290691046e-06, + "observation_loss": 8.089968105196021e-06, + "chamfer": 6.477990609710105e-06, + "track": 1.6119774954859167e-06, + "acceleration": 4.562446775935314e-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": 8.217892172979191e-06, + "observation_loss": 8.141648322634865e-06, + "chamfer": 6.5085482674476225e-06, + "track": 1.6330999415004044e-06, + "acceleration": 7.624403508543764e-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": 8.24690141598694e-06, + "observation_loss": 8.146763320837636e-06, + "chamfer": 6.511738320114091e-06, + "track": 1.6350246596630313e-06, + "acceleration": 1.0013766882366326e-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": 8.370539944735356e-06, + "observation_loss": 8.162876838468947e-06, + "chamfer": 6.520298484247178e-06, + "track": 1.642578240534931e-06, + "acceleration": 2.0766307784469973e-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": 8.668427653901745e-06, + "observation_loss": 8.53034362080507e-06, + "chamfer": 6.772734650439816e-06, + "track": 1.7576089703652542e-06, + "acceleration": 1.38084374157188e-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": 9.246420631825458e-06, + "observation_loss": 9.163551112578716e-06, + "chamfer": 7.193099463620456e-06, + "track": 1.9704518763319356e-06, + "acceleration": 8.286987451811001e-08, + "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": 9.91341130429646e-06, + "observation_loss": 9.642133591114543e-06, + "chamfer": 7.517789072153391e-06, + "track": 2.1243447463348275e-06, + "acceleration": 2.7127757107336947e-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": 9.652206244936679e-06, + "observation_loss": 9.496148777543567e-06, + "chamfer": 7.424140676448587e-06, + "track": 2.0720083284686552e-06, + "acceleration": 1.5605741054969258e-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": 9.370674888486974e-06, + "observation_loss": 9.178305845125578e-06, + "chamfer": 7.228007234516554e-06, + "track": 1.9502983832353493e-06, + "acceleration": 1.9236887283113902e-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": 8.961295861809049e-06, + "observation_loss": 8.914407771953847e-06, + "chamfer": 7.053863555483986e-06, + "track": 1.8605445575303747e-06, + "acceleration": 4.6887937088513354e-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": 8.74699981068261e-06, + "observation_loss": 8.695303222339135e-06, + "chamfer": 6.899669187987456e-06, + "track": 1.7956339206648408e-06, + "acceleration": 5.1696257941102886e-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": 8.702413651917595e-06, + "observation_loss": 8.642678949399851e-06, + "chamfer": 6.854954790469492e-06, + "track": 1.7877237041830085e-06, + "acceleration": 5.973429040295741e-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": 8.83814846019959e-06, + "observation_loss": 8.6897962319199e-06, + "chamfer": 6.88179852659232e-06, + "track": 1.8079974779539043e-06, + "acceleration": 1.4835219985798176e-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": 9.077646609512158e-06, + "observation_loss": 8.727490239834879e-06, + "chamfer": 6.906266207806766e-06, + "track": 1.8212241457149503e-06, + "acceleration": 3.5015654020753573e-07, + "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": 9.000958925753366e-06, + "observation_loss": 8.75573095981963e-06, + "chamfer": 6.906626822456019e-06, + "track": 1.8491039099899353e-06, + "acceleration": 2.4522782382518926e-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": 9.145225703832693e-06, + "observation_loss": 8.810809049464297e-06, + "chamfer": 6.943707830942003e-06, + "track": 1.8671012185222935e-06, + "acceleration": 3.3441699542891e-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": 9.636316463002004e-06, + "observation_loss": 8.915370017348323e-06, + "chamfer": 6.9963280111551285e-06, + "track": 1.91904223356687e-06, + "acceleration": 7.209462182800053e-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": 1.0068484698422253e-05, + "observation_loss": 9.057478564500343e-06, + "chamfer": 7.096322860888904e-06, + "track": 1.9611559309851145e-06, + "acceleration": 1.0110059065482346e-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": 9.70149540080456e-06, + "observation_loss": 9.181283530779183e-06, + "chamfer": 7.183123216236709e-06, + "track": 1.9981605419161497e-06, + "acceleration": 5.2021175633854e-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": 9.621341632737312e-06, + "observation_loss": 9.441135262022726e-06, + "chamfer": 7.362910309893778e-06, + "track": 2.0782254068762995e-06, + "acceleration": 1.8020648440142395e-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": 9.89745694823796e-06, + "observation_loss": 9.77004583546659e-06, + "chamfer": 7.5703060247178655e-06, + "track": 2.1997398107487243e-06, + "acceleration": 1.274113685667544e-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": 1.0257072062813677e-05, + "observation_loss": 1.0200425094808452e-05, + "chamfer": 7.849795110814739e-06, + "track": 2.3506297566200374e-06, + "acceleration": 5.6647142088195324e-08, + "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": 1.042489839164773e-05, + "observation_loss": 1.0376230420661159e-05, + "chamfer": 7.956726221891586e-06, + "track": 2.4195039713958977e-06, + "acceleration": 4.866754110821603e-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": 1.0681533240131103e-05, + "observation_loss": 1.0463625585543923e-05, + "chamfer": 8.002541107998695e-06, + "track": 2.4610847049189033e-06, + "acceleration": 2.179080098585473e-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": 1.0661626220098697e-05, + "observation_loss": 1.0527559425099753e-05, + "chamfer": 8.010640158317983e-06, + "track": 2.5169192667817697e-06, + "acceleration": 1.340668944749268e-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": 1.062106548488373e-05, + "observation_loss": 1.0537478374317288e-05, + "chamfer": 7.994360203156248e-06, + "track": 2.5431179437873652e-06, + "acceleration": 8.358706793387682e-08, + "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": 1.0666964044503402e-05, + "observation_loss": 1.0413009476906154e-05, + "chamfer": 7.913039553386625e-06, + "track": 2.4999699235195294e-06, + "acceleration": 2.539545107538288e-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": 1.082730341295246e-05, + "observation_loss": 1.0192708032263909e-05, + "chamfer": 7.77958757680608e-06, + "track": 2.413120455457829e-06, + "acceleration": 6.345954943753895e-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": 1.0525447578402236e-05, + "observation_loss": 1.0118795216840226e-05, + "chamfer": 7.724052920821123e-06, + "track": 2.394742068645428e-06, + "acceleration": 4.066525320922665e-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": 1.0267219295201357e-05, + "observation_loss": 1.0048064723378047e-05, + "chamfer": 7.671220373595133e-06, + "track": 2.376844349782914e-06, + "acceleration": 2.191547423535667e-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": 1.0673633369151503e-05, + "observation_loss": 9.951268111763056e-06, + "chamfer": 7.596715477120597e-06, + "track": 2.3545526346424595e-06, + "acceleration": 7.223652005450276e-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": 1.039884864439955e-05, + "observation_loss": 1.000611882773228e-05, + "chamfer": 7.647598067705985e-06, + "track": 2.3585205326526193e-06, + "acceleration": 3.927295324501756e-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": 1.0206088518316392e-05, + "observation_loss": 1.0093497621710412e-05, + "chamfer": 7.703241863055155e-06, + "track": 2.3902553039079066e-06, + "acceleration": 1.1259052712375706e-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": 1.0358484360040165e-05, + "observation_loss": 1.0133715477422811e-05, + "chamfer": 7.696820830460638e-06, + "track": 2.4368946469621733e-06, + "acceleration": 2.2476875471966196e-07, + "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": 1.0455019946675748e-05, + "observation_loss": 1.0209055290033575e-05, + "chamfer": 7.72066050558351e-06, + "track": 2.4883950118237408e-06, + "acceleration": 2.459644861119159e-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": 1.0741533515101764e-05, + "observation_loss": 1.0507652405067347e-05, + "chamfer": 7.86628334026318e-06, + "track": 2.6413690648041666e-06, + "acceleration": 2.3388146530578524e-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": 1.1036498108296655e-05, + "observation_loss": 1.083462848328054e-05, + "chamfer": 8.025277566048317e-06, + "track": 2.809350917232223e-06, + "acceleration": 2.0186949711842317e-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": 1.1344285667291842e-05, + "observation_loss": 1.1195239494554698e-05, + "chamfer": 8.22621768747922e-06, + "track": 2.9690215797018027e-06, + "acceleration": 1.4904593115261378e-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": 1.1491983059386257e-05, + "observation_loss": 1.137898834713269e-05, + "chamfer": 8.315966624650173e-06, + "track": 3.0630217224825174e-06, + "acceleration": 1.1299512436835357e-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": 1.1849057045765221e-05, + "observation_loss": 1.1594283932936378e-05, + "chamfer": 8.451232133666053e-06, + "track": 3.1430517992703244e-06, + "acceleration": 2.547726580814924e-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": 1.2131338735343888e-05, + "observation_loss": 1.1929289030376822e-05, + "chamfer": 8.661785614094697e-06, + "track": 3.2675031889084494e-06, + "acceleration": 2.0204971917792136e-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": 1.2278425856493413e-05, + "observation_loss": 1.2191530913696624e-05, + "chamfer": 8.811214684101287e-06, + "track": 3.380316229595337e-06, + "acceleration": 8.689456620913916e-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": 1.2390465599310119e-05, + "observation_loss": 1.231423630088102e-05, + "chamfer": 8.87136957317125e-06, + "track": 3.44286672770977e-06, + "acceleration": 7.622954001362814e-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": 1.2462140148272738e-05, + "observation_loss": 1.2391443306114525e-05, + "chamfer": 8.92553634912474e-06, + "track": 3.465906956989784e-06, + "acceleration": 7.069674268223025e-08, + "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": 1.2473722563299816e-05, + "observation_loss": 1.2406382666085847e-05, + "chamfer": 8.909309144655708e-06, + "track": 3.4970735214301385e-06, + "acceleration": 6.733987589768731e-08, + "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": 1.247035925189266e-05, + "observation_loss": 1.2421387509675696e-05, + "chamfer": 8.894313396012876e-06, + "track": 3.5270741136628203e-06, + "acceleration": 4.8971521948715235e-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": 1.2543566299427766e-05, + "observation_loss": 1.2402242646203376e-05, + "chamfer": 8.886464456736576e-06, + "track": 3.515778416840476e-06, + "acceleration": 1.4132334058558627e-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": 1.2512308785517234e-05, + "observation_loss": 1.237969900103053e-05, + "chamfer": 8.873572369338945e-06, + "track": 3.5061266316915862e-06, + "acceleration": 1.3261015396892617e-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": 1.2366233931970783e-05, + "observation_loss": 1.2353928468655795e-05, + "chamfer": 8.843895557220094e-06, + "track": 3.5100326840620255e-06, + "acceleration": 1.2305789276467749e-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": 1.2377840903354809e-05, + "observation_loss": 1.2321495887590572e-05, + "chamfer": 8.812865416985005e-06, + "track": 3.5086306979792425e-06, + "acceleration": 5.63447564161379e-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": 1.2438325029506814e-05, + "observation_loss": 1.2305300515436102e-05, + "chamfer": 8.794334462436382e-06, + "track": 3.5109658256260445e-06, + "acceleration": 1.3302472723353276e-07, + "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": 1.2330810022831429e-05, + "observation_loss": 1.2206121937197167e-05, + "chamfer": 8.738052201806568e-06, + "track": 3.4680699627642753e-06, + "acceleration": 1.2468770194118406e-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": 1.2088013136235531e-05, + "observation_loss": 1.2055095794494264e-05, + "chamfer": 8.65901165525429e-06, + "track": 3.396083911866299e-06, + "acceleration": 3.291737726840438e-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": 9.30250218071175e-06, + "chamfer_mean": 6.429561056601567e-06, + "track_mean": 1.8491834558413227e-06, + "acceleration_mean": 1.0237576300309303e-06, + "observation_score": 8.278744504745342e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4280233640001825 + }, + "score_arrays_file": "pass_scores/pass_end_0154.npz", + "score_arrays_sha256": "0882f0c286589ed5ab06902776c734f8fe6e3654f1a29654b418f4a1e27110ab" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0155.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0155.json new file mode 100644 index 0000000000000000000000000000000000000000..092d209359285c8212c7bc5d05b7d0bf56520299 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0155.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14880, + "completed_passes": 155, + "snapshot": "pass_end_0155", + "candidate": true, + "snapshot_arrays_sha256": "5801e85f8a9e15790f4184ccc49a2df3d708d948ca4244c3adde8709194f661b", + "score": 8.267324718739625e-06, + "score_result": { + "score": 8.267324718739625e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.948907422251068e-06, + 3.266838575655129e-06, + 3.626376610554871e-06, + 4.348762558947783e-06, + 5.150906872586347e-06, + 5.53144946024986e-06, + 5.512374173122225e-06, + 5.402421265898738e-06, + 5.238701760390541e-06, + 5.224728738539852e-06, + 5.427375526778633e-06, + 5.63969570066547e-06, + 5.875550868950086e-06, + 6.031556949892547e-06, + 6.087509518692968e-06, + 6.212232619873248e-06, + 6.064586159482133e-06, + 5.792081992694875e-06, + 5.613177108898526e-06, + 5.549677553062793e-06, + 5.5174723456730135e-06, + 5.37109917786438e-06, + 5.146085641172249e-06, + 5.060307103121886e-06, + 5.192860044189729e-06, + 5.4921183618716896e-06, + 5.780358151241671e-06, + 5.946675628365483e-06, + 5.9736939874710515e-06, + 5.912094366067322e-06, + 5.837767275806982e-06, + 5.915101610298734e-06, + 6.095422577345744e-06, + 6.349481736833695e-06, + 6.5659683059493545e-06, + 6.874276095913956e-06, + 7.156153515097685e-06, + 7.216251560748788e-06, + 7.0941578087513335e-06, + 7.127055141609162e-06, + 7.443844879162498e-06, + 7.789202754793223e-06, + 7.925450518087018e-06, + 8.055987564148381e-06, + 8.107536814350169e-06, + 8.114086995192338e-06, + 8.1318685261067e-06, + 8.499039722664747e-06, + 9.131947081186809e-06, + 9.610247616365086e-06, + 9.466300980420783e-06, + 9.151082849712111e-06, + 8.888343472790439e-06, + 8.672451258462388e-06, + 8.621498636784963e-06, + 8.670270290167537e-06, + 8.710055226401892e-06, + 8.738478754821699e-06, + 8.794511813903227e-06, + 8.899331078282557e-06, + 9.042480996868107e-06, + 9.167472853732761e-06, + 9.4280921985046e-06, + 9.759413842402864e-06, + 1.0193500202149153e-05, + 1.037436413753312e-05, + 1.0466470484971069e-05, + 1.053530377248535e-05, + 1.0548930731602013e-05, + 1.0426372682559304e-05, + 1.0207321793131996e-05, + 1.0135280717804562e-05, + 1.0066803952213377e-05, + 9.964742275769822e-06, + 1.0021409252658486e-05, + 1.0108437891176436e-05, + 1.0145931810257025e-05, + 1.0217838280368596e-05, + 1.0514935638639145e-05, + 1.0838285561476368e-05, + 1.1197929779882543e-05, + 1.1382231605239213e-05, + 1.1596172043937258e-05, + 1.1930377695534844e-05, + 1.2193328075227328e-05, + 1.2316551874391735e-05, + 1.2394693840178661e-05, + 1.2410167983034626e-05, + 1.242464713868685e-05, + 1.2405982488417067e-05, + 1.2385298759909347e-05, + 1.2358361345832236e-05, + 1.2327100193942897e-05, + 1.2310931197134778e-05, + 1.2212239198561292e-05, + 1.206292199640302e-05 + ] + ], + "episode_mean_losses": [ + 8.267324718739625e-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": 2.948907422251068e-06, + "observation_loss": 2.948907422251068e-06, + "chamfer": 2.5012482183228713e-06, + "track": 4.4765923234990623e-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": 4.312143209972419e-05, + "observation_loss": 3.266838575655129e-06, + "chamfer": 2.7636449431156507e-06, + "track": 5.031935756960593e-07, + "acceleration": 3.985459261457436e-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": 2.586422488093376e-05, + "observation_loss": 3.626376610554871e-06, + "chamfer": 3.0634337235824205e-06, + "track": 5.629429438158695e-07, + "acceleration": 2.2237847588257864e-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": 1.2188487744424492e-05, + "observation_loss": 4.348762558947783e-06, + "chamfer": 3.6393855680216802e-06, + "track": 7.093767635524273e-07, + "acceleration": 7.83972518547671e-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": 9.59938915912062e-06, + "observation_loss": 5.150906872586347e-06, + "chamfer": 4.252662165526999e-06, + "track": 8.98244707059348e-07, + "acceleration": 4.448481831786921e-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": 7.145090421545319e-06, + "observation_loss": 5.53144946024986e-06, + "chamfer": 4.528175850282423e-06, + "track": 1.0032737236542744e-06, + "acceleration": 1.613640733921784e-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": 6.579236014658818e-06, + "observation_loss": 5.512374173122225e-06, + "chamfer": 4.490480023378041e-06, + "track": 1.021894036057347e-06, + "acceleration": 1.066861727849755e-06, + "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": 6.027650670148432e-06, + "observation_loss": 5.402421265898738e-06, + "chamfer": 4.3997038119414356e-06, + "track": 1.0027175676441402e-06, + "acceleration": 6.252291768760188e-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": 6.173710971779656e-06, + "observation_loss": 5.238701760390541e-06, + "chamfer": 4.278920641809236e-06, + "track": 9.597811185813043e-07, + "acceleration": 9.350089840154396e-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": 5.9131693888048176e-06, + "observation_loss": 5.224728738539852e-06, + "chamfer": 4.2842989387281705e-06, + "track": 9.404296292814252e-07, + "acceleration": 6.884405365781276e-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": 5.7988017942989245e-06, + "observation_loss": 5.427375526778633e-06, + "chamfer": 4.465836354938801e-06, + "track": 9.615391718398314e-07, + "acceleration": 3.714263243637106e-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": 6.096976449043723e-06, + "observation_loss": 5.63969570066547e-06, + "chamfer": 4.643431111617247e-06, + "track": 9.96264816421899e-07, + "acceleration": 4.572807483782526e-07, + "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": 6.168638265080517e-06, + "observation_loss": 5.875550868950086e-06, + "chamfer": 4.8480792429472785e-06, + "track": 1.0274717396896449e-06, + "acceleration": 2.9308748139555973e-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": 6.344238499877974e-06, + "observation_loss": 6.031556949892547e-06, + "chamfer": 4.982990958524169e-06, + "track": 1.0485657639947021e-06, + "acceleration": 3.1268169209397456e-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": 6.64878325551399e-06, + "observation_loss": 6.087509518692968e-06, + "chamfer": 5.0364214985165745e-06, + "track": 1.0510881338632316e-06, + "acceleration": 5.612737368210219e-07, + "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": 6.596493676624959e-06, + "observation_loss": 6.212232619873248e-06, + "chamfer": 5.141619112691842e-06, + "track": 1.0706132798077306e-06, + "acceleration": 3.842610567517113e-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": 6.273049166338751e-06, + "observation_loss": 6.064586159482133e-06, + "chamfer": 5.021058768761577e-06, + "track": 1.043527618094231e-06, + "acceleration": 2.0846313475431089e-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": 6.1456985349650495e-06, + "observation_loss": 5.792081992694875e-06, + "chamfer": 4.804490799870109e-06, + "track": 9.875910791379283e-07, + "acceleration": 3.536167696438497e-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": 5.801401584903942e-06, + "observation_loss": 5.613177108898526e-06, + "chamfer": 4.665102551371092e-06, + "track": 9.480745575274341e-07, + "acceleration": 1.8822464653567295e-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": 5.690487341780681e-06, + "observation_loss": 5.549677553062793e-06, + "chamfer": 4.615312718669884e-06, + "track": 9.343650049231655e-07, + "acceleration": 1.4080958976592228e-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": 5.743455403717235e-06, + "observation_loss": 5.5174723456730135e-06, + "chamfer": 4.589818217937136e-06, + "track": 9.276541277358774e-07, + "acceleration": 2.259830154116571e-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": 5.644432349072304e-06, + "observation_loss": 5.37109917786438e-06, + "chamfer": 4.474962679523742e-06, + "track": 8.961366120274761e-07, + "acceleration": 2.7333325647305173e-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": 5.328280167304911e-06, + "observation_loss": 5.146085641172249e-06, + "chamfer": 4.2960023165505845e-06, + "track": 8.500833246216644e-07, + "acceleration": 1.821944835000977e-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": 5.1951278692286e-06, + "observation_loss": 5.060307103121886e-06, + "chamfer": 4.219950824335683e-06, + "track": 8.403561082559463e-07, + "acceleration": 1.3482072347414942e-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": 5.336986305337632e-06, + "observation_loss": 5.192860044189729e-06, + "chamfer": 4.310911208449397e-06, + "track": 8.819488925837504e-07, + "acceleration": 1.4412621851533913e-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": 5.8115224419452716e-06, + "observation_loss": 5.4921183618716896e-06, + "chamfer": 4.531325885182014e-06, + "track": 9.607924766896758e-07, + "acceleration": 3.194039663867443e-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": 6.148164175101556e-06, + "observation_loss": 5.780358151241671e-06, + "chamfer": 4.741528300655773e-06, + "track": 1.038829623212223e-06, + "acceleration": 3.678060238598846e-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": 6.211662366695236e-06, + "observation_loss": 5.946675628365483e-06, + "chamfer": 4.867896223004209e-06, + "track": 1.0787794053612743e-06, + "acceleration": 2.6498679517317214e-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": 6.486896381829865e-06, + "observation_loss": 5.9736939874710515e-06, + "chamfer": 4.897618055110797e-06, + "track": 1.0760757049865788e-06, + "acceleration": 5.132022238285572e-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": 6.116397344158031e-06, + "observation_loss": 5.912094366067322e-06, + "chamfer": 4.853937298321398e-06, + "track": 1.0581571814327617e-06, + "acceleration": 2.0430296387985436e-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": 5.916334430366987e-06, + "observation_loss": 5.837767275806982e-06, + "chamfer": 4.8003639676608145e-06, + "track": 1.0374031944593298e-06, + "acceleration": 7.856731798483452e-08, + "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": 5.981573394819861e-06, + "observation_loss": 5.915101610298734e-06, + "chamfer": 4.8600113586871885e-06, + "track": 1.055090137924708e-06, + "acceleration": 6.647189820796484e-08, + "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": 6.1953605836606584e-06, + "observation_loss": 6.095422577345744e-06, + "chamfer": 5.002757461625151e-06, + "track": 1.0926651157205924e-06, + "acceleration": 9.993802763119675e-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": 6.474247584264958e-06, + "observation_loss": 6.349481736833695e-06, + "chamfer": 5.190358933759853e-06, + "track": 1.1591225757001666e-06, + "acceleration": 1.2476587585297239e-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": 6.665041382802883e-06, + "observation_loss": 6.5659683059493545e-06, + "chamfer": 5.359107944968855e-06, + "track": 1.2068604746673373e-06, + "acceleration": 9.907286369070789e-08, + "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": 7.044076937745558e-06, + "observation_loss": 6.874276095913956e-06, + "chamfer": 5.591021363215987e-06, + "track": 1.283254846384807e-06, + "acceleration": 1.698009697292946e-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": 7.217190614028368e-06, + "observation_loss": 7.156153515097685e-06, + "chamfer": 5.800372946396237e-06, + "track": 1.3557804550146102e-06, + "acceleration": 6.103723393380278e-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": 7.57421230446198e-06, + "observation_loss": 7.216251560748788e-06, + "chamfer": 5.857249107066309e-06, + "track": 1.3590025673693162e-06, + "acceleration": 3.5796057318293606e-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": 7.248288511618739e-06, + "observation_loss": 7.0941578087513335e-06, + "chamfer": 5.784504082839703e-06, + "track": 1.3096536122247926e-06, + "acceleration": 1.541306176022772e-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": 7.311583431146573e-06, + "observation_loss": 7.127055141609162e-06, + "chamfer": 5.81361973672756e-06, + "track": 1.3134355185684399e-06, + "acceleration": 1.8452809058544517e-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": 7.705904863541946e-06, + "observation_loss": 7.443844879162498e-06, + "chamfer": 6.046061571396422e-06, + "track": 1.397783421452914e-06, + "acceleration": 2.6205958647551597e-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": 7.976736014825292e-06, + "observation_loss": 7.789202754793223e-06, + "chamfer": 6.288480562943732e-06, + "track": 1.5007218507889775e-06, + "acceleration": 1.8753280528471805e-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": 8.017398613446858e-06, + "observation_loss": 7.925450518087018e-06, + "chamfer": 6.3670845520391595e-06, + "track": 1.558365852361021e-06, + "acceleration": 9.194805983270271e-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": 8.101334060484078e-06, + "observation_loss": 8.055987564148381e-06, + "chamfer": 6.452265097323107e-06, + "track": 1.603722353138437e-06, + "acceleration": 4.5346894239628455e-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": 8.183135832950938e-06, + "observation_loss": 8.107536814350169e-06, + "chamfer": 6.482642675109673e-06, + "track": 1.624894480301009e-06, + "acceleration": 7.559945203183815e-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": 8.214615263568703e-06, + "observation_loss": 8.114086995192338e-06, + "chamfer": 6.487049631687114e-06, + "track": 1.627037704565737e-06, + "acceleration": 1.0052858101516904e-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": 8.338900443050079e-06, + "observation_loss": 8.1318685261067e-06, + "chamfer": 6.496921741927508e-06, + "track": 1.6349465568055166e-06, + "acceleration": 2.0703237169072963e-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": 8.637162864033598e-06, + "observation_loss": 8.499039722664747e-06, + "chamfer": 6.7493360802473035e-06, + "track": 1.7497038697911194e-06, + "acceleration": 1.3812321242312464e-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": 9.214266356138978e-06, + "observation_loss": 9.131947081186809e-06, + "chamfer": 7.170295702962903e-06, + "track": 1.9616518329712562e-06, + "acceleration": 8.231932469016101e-08, + "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": 9.881355254037771e-06, + "observation_loss": 9.610247616365086e-06, + "chamfer": 7.49505261410377e-06, + "track": 2.115194774887641e-06, + "acceleration": 2.7110752398584737e-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": 9.622503966966178e-06, + "observation_loss": 9.466300980420783e-06, + "chamfer": 7.402769369946327e-06, + "track": 2.063532065221807e-06, + "acceleration": 1.5620337023847242e-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": 9.343947567685973e-06, + "observation_loss": 9.151082849712111e-06, + "chamfer": 7.2083817030943464e-06, + "track": 1.94270137399144e-06, + "acceleration": 1.9286493113668257e-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": 8.93522610567743e-06, + "observation_loss": 8.888343472790439e-06, + "chamfer": 7.0348269218811765e-06, + "track": 1.853516209848749e-06, + "acceleration": 4.688255117457629e-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": 8.724814506422263e-06, + "observation_loss": 8.672451258462388e-06, + "chamfer": 6.883002697577467e-06, + "track": 1.7894487882585963e-06, + "acceleration": 5.236357125681934e-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": 8.6815371105331e-06, + "observation_loss": 8.621498636784963e-06, + "chamfer": 6.839497928012861e-06, + "track": 1.782000481398427e-06, + "acceleration": 6.003852348612781e-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": 8.794338100415189e-06, + "observation_loss": 8.670270290167537e-06, + "chamfer": 6.867723186587682e-06, + "track": 1.8025472172666923e-06, + "acceleration": 1.2406798077790882e-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": 8.967162102635484e-06, + "observation_loss": 8.710055226401892e-06, + "chamfer": 6.893834324728232e-06, + "track": 1.8162210153604974e-06, + "acceleration": 2.571069330770115e-07, + "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": 8.961149433162063e-06, + "observation_loss": 8.738478754821699e-06, + "chamfer": 6.8942727011744864e-06, + "track": 1.8442057125866995e-06, + "acceleration": 2.2267064991865482e-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": 9.12981886358466e-06, + "observation_loss": 8.794511813903227e-06, + "chamfer": 6.932224550837418e-06, + "track": 1.862287376752647e-06, + "acceleration": 3.3530750442878343e-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": 9.620177479519043e-06, + "observation_loss": 8.899331078282557e-06, + "chamfer": 6.985407708270941e-06, + "track": 1.9139238247589674e-06, + "acceleration": 7.208464580799046e-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": 1.0053830919787288e-05, + "observation_loss": 9.042480996868107e-06, + "chamfer": 7.086212008289294e-06, + "track": 1.956268988578813e-06, + "acceleration": 1.0113496955455048e-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": 9.688892532722093e-06, + "observation_loss": 9.167472853732761e-06, + "chamfer": 7.173897756729275e-06, + "track": 1.993575097003486e-06, + "acceleration": 5.214200200498453e-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": 9.608745131117757e-06, + "observation_loss": 9.4280921985046e-06, + "chamfer": 7.354219633270986e-06, + "track": 2.073872337859939e-06, + "acceleration": 1.806530036674303e-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": 9.887785381579306e-06, + "observation_loss": 9.759413842402864e-06, + "chamfer": 7.563150120404316e-06, + "track": 2.1962639493722236e-06, + "acceleration": 1.283712407484927e-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": 1.025064102577744e-05, + "observation_loss": 1.0193500202149153e-05, + "chamfer": 7.845465006539598e-06, + "track": 2.3480356503569055e-06, + "acceleration": 5.7140841391856156e-08, + "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": 1.0423314961371943e-05, + "observation_loss": 1.037436413753312e-05, + "chamfer": 7.955939508974552e-06, + "track": 2.4184241738112178e-06, + "acceleration": 4.895039040775373e-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": 1.0685811503208242e-05, + "observation_loss": 1.0466470484971069e-05, + "chamfer": 8.004746632650495e-06, + "track": 2.4617233975732233e-06, + "acceleration": 2.1934121718913957e-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": 1.0670448318705894e-05, + "observation_loss": 1.053530377248535e-05, + "chamfer": 8.016292667889502e-06, + "track": 2.519010877222172e-06, + "acceleration": 1.3514463148567302e-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": 1.063309537130408e-05, + "observation_loss": 1.0548930731602013e-05, + "chamfer": 8.002643880899996e-06, + "track": 2.546286623328342e-06, + "acceleration": 8.41642346927074e-08, + "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": 1.0681493222364224e-05, + "observation_loss": 1.0426372682559304e-05, + "chamfer": 7.922316399344709e-06, + "track": 2.5040558284672443e-06, + "acceleration": 2.5512036927466397e-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": 1.084450377675239e-05, + "observation_loss": 1.0207321793131996e-05, + "chamfer": 7.789267328917049e-06, + "track": 2.418054464214947e-06, + "acceleration": 6.371820973072317e-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": 1.054352196661057e-05, + "observation_loss": 1.0135280717804562e-05, + "chamfer": 7.735027793387417e-06, + "track": 2.400253151790821e-06, + "acceleration": 4.0824102143233176e-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": 1.0302608643542044e-05, + "observation_loss": 1.0066803952213377e-05, + "chamfer": 7.683635885769036e-06, + "track": 2.3831678390706657e-06, + "acceleration": 2.3580470553952182e-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": 1.0804606063175015e-05, + "observation_loss": 9.964742275769822e-06, + "chamfer": 7.60484272177564e-06, + "track": 2.3598990992468316e-06, + "acceleration": 8.398635600315174e-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": 1.0479237062099855e-05, + "observation_loss": 1.0021409252658486e-05, + "chamfer": 7.657368769287132e-06, + "track": 2.364040255997679e-06, + "acceleration": 4.578275820676936e-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": 1.0231640771962702e-05, + "observation_loss": 1.0108437891176436e-05, + "chamfer": 7.712877959420439e-06, + "track": 2.3955601591296727e-06, + "acceleration": 1.2320286657541146e-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": 1.037934998748824e-05, + "observation_loss": 1.0145931810257025e-05, + "chamfer": 7.704646122874692e-06, + "track": 2.4412854600086575e-06, + "acceleration": 2.334186035568564e-07, + "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": 1.0467475476616528e-05, + "observation_loss": 1.0217838280368596e-05, + "chamfer": 7.726624971837737e-06, + "track": 2.491213535904535e-06, + "acceleration": 2.49636826765709e-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": 1.0751931768027134e-05, + "observation_loss": 1.0514935638639145e-05, + "chamfer": 7.871863999753259e-06, + "track": 2.6430711841385346e-06, + "acceleration": 2.369959872794425e-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": 1.1037330295948777e-05, + "observation_loss": 1.0838285561476368e-05, + "chamfer": 8.028774573176634e-06, + "track": 2.809510988299735e-06, + "acceleration": 1.9904457815300702e-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": 1.1345938219164964e-05, + "observation_loss": 1.1197929779882543e-05, + "chamfer": 8.228532351495232e-06, + "track": 2.9693974283873104e-06, + "acceleration": 1.4800818348703615e-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": 1.1498305866552982e-05, + "observation_loss": 1.1382231605239213e-05, + "chamfer": 8.318845175381284e-06, + "track": 3.0633866572316037e-06, + "acceleration": 1.1607470185026614e-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": 1.18496618597419e-05, + "observation_loss": 1.1596172043937258e-05, + "chamfer": 8.453383998130448e-06, + "track": 3.142788500554161e-06, + "acceleration": 2.53490100021736e-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": 1.2127587979193777e-05, + "observation_loss": 1.1930377695534844e-05, + "chamfer": 8.6638392531313e-06, + "track": 3.266538669777219e-06, + "acceleration": 1.9721014155038574e-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": 1.2279314432817046e-05, + "observation_loss": 1.2193328075227328e-05, + "chamfer": 8.814102329779416e-06, + "track": 3.379226200195262e-06, + "acceleration": 8.598593836950386e-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": 1.2392033568175975e-05, + "observation_loss": 1.2316551874391735e-05, + "chamfer": 8.87451915332349e-06, + "track": 3.442032493694569e-06, + "acceleration": 7.54818501036425e-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": 1.2465076906664763e-05, + "observation_loss": 1.2394693840178661e-05, + "chamfer": 8.929369869292714e-06, + "track": 3.465323743512272e-06, + "acceleration": 7.038342886289684e-08, + "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": 1.2477418749767821e-05, + "observation_loss": 1.2410167983034626e-05, + "chamfer": 8.913671081245411e-06, + "track": 3.4964973565365653e-06, + "acceleration": 6.725112910999087e-08, + "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": 1.2471805348468479e-05, + "observation_loss": 1.242464713868685e-05, + "chamfer": 8.898513442545664e-06, + "track": 3.5261339235148625e-06, + "acceleration": 4.7158057014939914e-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": 1.2546228390419856e-05, + "observation_loss": 1.2405982488417067e-05, + "chamfer": 8.890552635421045e-06, + "track": 3.5154293982486706e-06, + "acceleration": 1.4024556094227592e-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": 1.2519891242845915e-05, + "observation_loss": 1.2385298759909347e-05, + "chamfer": 8.8786791820894e-06, + "track": 3.5066198051936226e-06, + "acceleration": 1.345925255691327e-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": 1.2371387128951028e-05, + "observation_loss": 1.2358361345832236e-05, + "chamfer": 8.848142897477373e-06, + "track": 3.5102184483548626e-06, + "acceleration": 1.30261943454002e-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": 1.238415097759571e-05, + "observation_loss": 1.2327100193942897e-05, + "chamfer": 8.817940397420898e-06, + "track": 3.5091595691483235e-06, + "acceleration": 5.7051160240462195e-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": 1.244276063516736e-05, + "observation_loss": 1.2310931197134778e-05, + "chamfer": 8.799573151918594e-06, + "track": 3.5113582725898596e-06, + "acceleration": 1.318294238217277e-07, + "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": 1.2334619896137156e-05, + "observation_loss": 1.2212239198561292e-05, + "chamfer": 8.743487342144363e-06, + "track": 3.468752083790605e-06, + "acceleration": 1.2238041335876915e-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": 1.2096872524125502e-05, + "observation_loss": 1.206292199640302e-05, + "chamfer": 8.665637324156705e-06, + "track": 3.3972846722463146e-06, + "acceleration": 3.3950865230281124e-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": 9.290182333643315e-06, + "chamfer_mean": 6.421097391277423e-06, + "track_mean": 1.8462273277582615e-06, + "acceleration_mean": 1.0228576055315575e-06, + "observation_score": 8.267324718739625e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4148153899986937 + }, + "score_arrays_file": "pass_scores/pass_end_0155.npz", + "score_arrays_sha256": "765ca442cbfc527c650a556d5b67f9849f115072413aac968d916db8af3afa8b" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0156.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0156.json new file mode 100644 index 0000000000000000000000000000000000000000..a9a550064eeec747ebc5e9052ae4881a6f366386 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0156.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 14976, + "completed_passes": 156, + "snapshot": "pass_end_0156", + "candidate": true, + "snapshot_arrays_sha256": "7d4da6b0e5770b83b26857ea928928ff7846f81f1f665bf02ca6365f8471fa12", + "score": 8.255864356006745e-06, + "score_result": { + "score": 8.255864356006745e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9489231110346736e-06, + 3.264212637077435e-06, + 3.621453970481525e-06, + 4.335414359957213e-06, + 5.132387741468847e-06, + 5.510828941623913e-06, + 5.489079740073066e-06, + 5.37979940418154e-06, + 5.217764737608377e-06, + 5.204748049436603e-06, + 5.409830464486731e-06, + 5.626015081361402e-06, + 5.861467343493132e-06, + 6.016077350068372e-06, + 6.06931962465751e-06, + 6.192146429384593e-06, + 6.044893325451994e-06, + 5.773666998720728e-06, + 5.595825314230751e-06, + 5.530034741241252e-06, + 5.495388450071914e-06, + 5.348448667064076e-06, + 5.125898951519048e-06, + 5.041863005317282e-06, + 5.172139026399236e-06, + 5.467275514092762e-06, + 5.7557367654226255e-06, + 5.925334335188381e-06, + 5.955332653684309e-06, + 5.896577476960374e-06, + 5.821697413921356e-06, + 5.900114047108218e-06, + 6.082881100155646e-06, + 6.335473699436989e-06, + 6.54909899822087e-06, + 6.854911589471158e-06, + 7.136897238524398e-06, + 7.197062132036081e-06, + 7.0720243456889875e-06, + 7.10013227944728e-06, + 7.413715138682164e-06, + 7.75763146521058e-06, + 7.89357909525279e-06, + 8.022948350117076e-06, + 8.074862307694275e-06, + 8.082488420768641e-06, + 8.101872481347527e-06, + 8.469402928312775e-06, + 9.102577678277157e-06, + 9.580773621564731e-06, + 9.438615961698815e-06, + 9.125055839831475e-06, + 8.863294169714209e-06, + 8.64995217852993e-06, + 8.600605724495836e-06, + 8.650339623272885e-06, + 8.691318726050667e-06, + 8.719856850802898e-06, + 8.77642014529556e-06, + 8.881735993782058e-06, + 9.026072802953422e-06, + 9.152936399914324e-06, + 9.415268323209602e-06, + 9.749529453983996e-06, + 1.0187707630393561e-05, + 1.0373591067036614e-05, + 1.0470379493199289e-05, + 1.054453241522424e-05, + 1.0562294846749865e-05, + 1.0441014637763146e-05, + 1.0223174285783898e-05, + 1.0153646144317463e-05, + 1.0087253940582741e-05, + 9.97926872514654e-06, + 1.0036876119556837e-05, + 1.012236771202879e-05, + 1.0156515600101557e-05, + 1.0224921425106004e-05, + 1.0520172509131953e-05, + 1.0839999049494509e-05, + 1.1198738320672419e-05, + 1.1384485333110206e-05, + 1.1596667718549725e-05, + 1.192955005535623e-05, + 1.219412934005959e-05, + 1.2316762877162546e-05, + 1.2394911209412385e-05, + 1.2410969247866888e-05, + 1.2426229659467936e-05, + 1.2407102076394949e-05, + 1.2388364666549023e-05, + 1.2361911103653256e-05, + 1.23311028801254e-05, + 1.2314926607359666e-05, + 1.2215937204018701e-05, + 1.2068443538737483e-05 + ] + ], + "episode_mean_losses": [ + 8.255864356006745e-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": 2.9489231110346736e-06, + "observation_loss": 2.9489231110346736e-06, + "chamfer": 2.501267545085284e-06, + "track": 4.4765550910597085e-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": 4.3056126742158085e-05, + "observation_loss": 3.264212637077435e-06, + "chamfer": 2.7614271402853774e-06, + "track": 5.027854399486387e-07, + "acceleration": 3.9791913877706975e-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": 2.5810035367612727e-05, + "observation_loss": 3.621453970481525e-06, + "chamfer": 3.0594212603318738e-06, + "track": 5.620326533062325e-07, + "acceleration": 2.2188582079252228e-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": 1.2157001037849113e-05, + "observation_loss": 4.335414359957213e-06, + "chamfer": 3.629020966400276e-06, + "track": 7.063935072437744e-07, + "acceleration": 7.82158622314455e-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": 9.58401506068185e-06, + "observation_loss": 5.132387741468847e-06, + "chamfer": 4.239037934894441e-06, + "track": 8.933498065744061e-07, + "acceleration": 4.451627319213003e-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": 7.1221711550606415e-06, + "observation_loss": 5.510828941623913e-06, + "chamfer": 4.514155534707243e-06, + "track": 9.966734069166705e-07, + "acceleration": 1.6113424408104038e-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": 6.552096238010563e-06, + "observation_loss": 5.489079740073066e-06, + "chamfer": 4.474908564588986e-06, + "track": 1.0141709481104044e-06, + "acceleration": 1.0630166116243345e-06, + "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": 6.006487637932878e-06, + "observation_loss": 5.37979940418154e-06, + "chamfer": 4.384749445307534e-06, + "track": 9.95049845187168e-07, + "acceleration": 6.266881200645003e-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": 6.149390173959546e-06, + "observation_loss": 5.217764737608377e-06, + "chamfer": 4.265012648829725e-06, + "track": 9.527519750918145e-07, + "acceleration": 9.316252089774935e-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": 5.886388862563763e-06, + "observation_loss": 5.204748049436603e-06, + "chamfer": 4.270560111763189e-06, + "track": 9.341879376734141e-07, + "acceleration": 6.816407562837412e-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": 5.778224931418663e-06, + "observation_loss": 5.409830464486731e-06, + "chamfer": 4.45371370005887e-06, + "track": 9.56116878114699e-07, + "acceleration": 3.683945806187694e-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": 6.073604254197562e-06, + "observation_loss": 5.626015081361402e-06, + "chamfer": 4.634392553271027e-06, + "track": 9.916224144035368e-07, + "acceleration": 4.475891728361603e-07, + "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": 6.143116479506716e-06, + "observation_loss": 5.861467343493132e-06, + "chamfer": 4.83863050249056e-06, + "track": 1.0228367273157346e-06, + "acceleration": 2.816490507484559e-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": 6.331864369713003e-06, + "observation_loss": 6.016077350068372e-06, + "chamfer": 4.972155693394598e-06, + "track": 1.0439216566737741e-06, + "acceleration": 3.157869628012122e-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": 6.620157819270389e-06, + "observation_loss": 6.06931962465751e-06, + "chamfer": 5.0232197281729896e-06, + "track": 1.046100010171358e-06, + "acceleration": 5.50838308299717e-07, + "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": 6.5618110056675505e-06, + "observation_loss": 6.192146429384593e-06, + "chamfer": 5.126675659994362e-06, + "track": 1.0654705420165556e-06, + "acceleration": 3.6966446259611985e-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": 6.2547351262765005e-06, + "observation_loss": 6.044893325451994e-06, + "chamfer": 5.006218088965397e-06, + "track": 1.0386751227997593e-06, + "acceleration": 2.0984165871595906e-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": 6.126850621512858e-06, + "observation_loss": 5.773666998720728e-06, + "chamfer": 4.790291313838679e-06, + "track": 9.833757985688862e-07, + "acceleration": 3.5318373647896806e-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": 5.784283530374523e-06, + "observation_loss": 5.595825314230751e-06, + "chamfer": 4.65150196760078e-06, + "track": 9.443231192562962e-07, + "acceleration": 1.8845818772206258e-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": 5.67207052881713e-06, + "observation_loss": 5.530034741241252e-06, + "chamfer": 4.599624844559003e-06, + "track": 9.304100103690871e-07, + "acceleration": 1.4203594389528007e-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": 5.722579771827441e-06, + "observation_loss": 5.495388450071914e-06, + "chamfer": 4.5722013055637944e-06, + "track": 9.231871445081197e-07, + "acceleration": 2.2719135017723602e-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": 5.625510766549269e-06, + "observation_loss": 5.348448667064076e-06, + "chamfer": 4.456696387933334e-06, + "track": 8.917521086004854e-07, + "acceleration": 2.7706190053322644e-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": 5.309500465955352e-06, + "observation_loss": 5.125898951519048e-06, + "chamfer": 4.279613222024636e-06, + "track": 8.462859000246681e-07, + "acceleration": 1.83601443382031e-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": 5.177832463232335e-06, + "observation_loss": 5.041863005317282e-06, + "chamfer": 4.205016921332572e-06, + "track": 8.368459134544537e-07, + "acceleration": 1.359695716018905e-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": 5.317040631780401e-06, + "observation_loss": 5.172139026399236e-06, + "chamfer": 4.294250175007619e-06, + "track": 8.778887945481983e-07, + "acceleration": 1.449018043331307e-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": 5.787878762930632e-06, + "observation_loss": 5.467275514092762e-06, + "chamfer": 4.511657152761472e-06, + "track": 9.556183613312896e-07, + "acceleration": 3.206031351510319e-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": 6.124551873654127e-06, + "observation_loss": 5.7557367654226255e-06, + "chamfer": 4.7220682972692885e-06, + "track": 1.033668468153337e-06, + "acceleration": 3.688150513880828e-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": 6.191616193973459e-06, + "observation_loss": 5.925334335188381e-06, + "chamfer": 4.851091944146901e-06, + "track": 1.07424239104148e-06, + "acceleration": 2.6628185878507793e-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": 6.472970198956318e-06, + "observation_loss": 5.955332653684309e-06, + "chamfer": 4.883203473582398e-06, + "track": 1.0721292937887483e-06, + "acceleration": 5.176377726456849e-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": 6.100328391767107e-06, + "observation_loss": 5.896577476960374e-06, + "chamfer": 4.841756890527904e-06, + "track": 1.0548204727456323e-06, + "acceleration": 2.037507300656216e-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": 5.901211807213258e-06, + "observation_loss": 5.821697413921356e-06, + "chamfer": 4.787482339452254e-06, + "track": 1.0342151881559403e-06, + "acceleration": 7.951433644848294e-08, + "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": 5.9672297538782004e-06, + "observation_loss": 5.900114047108218e-06, + "chamfer": 4.847904619964538e-06, + "track": 1.0522091997700045e-06, + "acceleration": 6.711550071258898e-08, + "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": 6.181170192576246e-06, + "observation_loss": 6.082881100155646e-06, + "chamfer": 4.992562026018277e-06, + "track": 1.0903190741373692e-06, + "acceleration": 9.828923452914751e-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": 6.458282314270036e-06, + "observation_loss": 6.335473699436989e-06, + "chamfer": 5.1790270845231134e-06, + "track": 1.1564468422875507e-06, + "acceleration": 1.2280865746561176e-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": 6.6495831561042e-06, + "observation_loss": 6.54909899822087e-06, + "chamfer": 5.345561930880649e-06, + "track": 1.2035370673402213e-06, + "acceleration": 1.0048395182593595e-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": 7.025938884908101e-06, + "observation_loss": 6.854911589471158e-06, + "chamfer": 5.575554496317636e-06, + "track": 1.2793570931535214e-06, + "acceleration": 1.7102746596719953e-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": 7.198545972642023e-06, + "observation_loss": 7.136897238524398e-06, + "chamfer": 5.785125722468365e-06, + "track": 1.3517714023691951e-06, + "acceleration": 6.164886912074508e-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": 7.555395313829649e-06, + "observation_loss": 7.197062132036081e-06, + "chamfer": 5.842104201292386e-06, + "track": 1.354958044430532e-06, + "acceleration": 3.583332102152781e-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": 7.227814876387129e-06, + "observation_loss": 7.0720243456889875e-06, + "chamfer": 5.76704042032361e-06, + "track": 1.3049838116785395e-06, + "acceleration": 1.5579031753532036e-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": 7.285524588951375e-06, + "observation_loss": 7.10013227944728e-06, + "chamfer": 5.7924412431020755e-06, + "track": 1.3076909226583666e-06, + "acceleration": 1.8539239476922376e-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": 7.676158020331059e-06, + "observation_loss": 7.413715138682164e-06, + "chamfer": 6.022901288815774e-06, + "track": 1.3908136224927148e-06, + "acceleration": 2.624430806008604e-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": 7.945317520352546e-06, + "observation_loss": 7.75763146521058e-06, + "chamfer": 6.264320745685836e-06, + "track": 1.4933108332115808e-06, + "acceleration": 1.8768631093735166e-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": 7.984887815837283e-06, + "observation_loss": 7.89357909525279e-06, + "chamfer": 6.3428724388359115e-06, + "track": 1.5507064290432027e-06, + "acceleration": 9.130909006671573e-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": 8.068953320616856e-06, + "observation_loss": 8.022948350117076e-06, + "chamfer": 6.427168500522384e-06, + "track": 1.595779735907854e-06, + "acceleration": 4.6004569043134325e-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": 8.150798748829402e-06, + "observation_loss": 8.074862307694275e-06, + "chamfer": 6.457816198235378e-06, + "track": 1.617045768398384e-06, + "acceleration": 7.593611428546865e-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": 8.183625141100492e-06, + "observation_loss": 8.082488420768641e-06, + "chamfer": 6.463124464062275e-06, + "track": 1.6193636156458524e-06, + "acceleration": 1.0113640769304766e-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": 8.30936824058881e-06, + "observation_loss": 8.101872481347527e-06, + "chamfer": 6.4742625909275375e-06, + "track": 1.6276096630463144e-06, + "acceleration": 2.0749567397615465e-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": 8.607664312876295e-06, + "observation_loss": 8.469402928312775e-06, + "chamfer": 6.727145773766097e-06, + "track": 1.7422569271730026e-06, + "acceleration": 1.3826139877437527e-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": 9.18476507649757e-06, + "observation_loss": 9.102577678277157e-06, + "chamfer": 7.149008069973206e-06, + "track": 1.9535691535566002e-06, + "acceleration": 8.21871353196002e-08, + "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": 9.851823961071204e-06, + "observation_loss": 9.580773621564731e-06, + "chamfer": 7.473935511370655e-06, + "track": 2.106837655446725e-06, + "acceleration": 2.7105002686766966e-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": 9.594718903827015e-06, + "observation_loss": 9.438615961698815e-06, + "chamfer": 7.3828568929457106e-06, + "track": 2.0557586140057538e-06, + "acceleration": 1.561025015917039e-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": 9.319231139670592e-06, + "observation_loss": 9.125055839831475e-06, + "chamfer": 7.189513326011365e-06, + "track": 1.9355427411937853e-06, + "acceleration": 1.9417538510424492e-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": 8.91039235284552e-06, + "observation_loss": 8.863294169714209e-06, + "chamfer": 7.016493782430189e-06, + "track": 1.8468002735971822e-06, + "acceleration": 4.7098613009666224e-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": 8.702828381501604e-06, + "observation_loss": 8.64995217852993e-06, + "chamfer": 6.866548574180342e-06, + "track": 1.7834039454101003e-06, + "acceleration": 5.287633442208062e-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": 8.660943422000855e-06, + "observation_loss": 8.600605724495836e-06, + "chamfer": 6.824254796811147e-06, + "track": 1.7763505866241758e-06, + "acceleration": 6.033805277638749e-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": 8.757532668823842e-06, + "observation_loss": 8.650339623272885e-06, + "chamfer": 6.853351806057617e-06, + "track": 1.7969877035284298e-06, + "acceleration": 1.0719296028582903e-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": 8.883028385753278e-06, + "observation_loss": 8.691318726050667e-06, + "chamfer": 6.880367891426431e-06, + "track": 1.8109509483110742e-06, + "acceleration": 1.9170921916611405e-07, + "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": 8.926926966523752e-06, + "observation_loss": 8.719856850802898e-06, + "chamfer": 6.880893124616705e-06, + "track": 1.8389633851256804e-06, + "acceleration": 2.0706978887119476e-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": 9.113698069995735e-06, + "observation_loss": 8.77642014529556e-06, + "chamfer": 6.9194020397844724e-06, + "track": 1.8570183328847634e-06, + "acceleration": 3.372780383870122e-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": 9.606410458218306e-06, + "observation_loss": 8.881735993782058e-06, + "chamfer": 6.973212293814868e-06, + "track": 1.908523472593515e-06, + "acceleration": 7.246745212796668e-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": 1.004284877126338e-05, + "observation_loss": 9.026072802953422e-06, + "chamfer": 7.075005214574048e-06, + "track": 1.9510675883793738e-06, + "acceleration": 1.0167760819967953e-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": 9.677782145445235e-06, + "observation_loss": 9.152936399914324e-06, + "chamfer": 7.164135695347795e-06, + "track": 1.9888009319402045e-06, + "acceleration": 5.248455181572353e-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": 9.597438292985316e-06, + "observation_loss": 9.415268323209602e-06, + "chamfer": 7.345623089349829e-06, + "track": 2.0696450064860983e-06, + "acceleration": 1.8217033925793658e-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": 9.879278877633624e-06, + "observation_loss": 9.749529453983996e-06, + "chamfer": 7.556491254945286e-06, + "track": 2.1930381990387104e-06, + "acceleration": 1.2974976471014088e-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": 1.0245535122521687e-05, + "observation_loss": 1.0187707630393561e-05, + "chamfer": 7.84184430813184e-06, + "track": 2.3458630948880455e-06, + "acceleration": 5.7827278965305595e-08, + "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": 1.0423054845887236e-05, + "observation_loss": 1.0373591067036614e-05, + "chamfer": 7.955869477882516e-06, + "track": 2.417722043901449e-06, + "acceleration": 4.9463338314126304e-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": 1.0691106581361964e-05, + "observation_loss": 1.0470379493199289e-05, + "chamfer": 8.007653377717361e-06, + "track": 2.462726115481928e-06, + "acceleration": 2.2072725869293208e-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": 1.068138863047352e-05, + "observation_loss": 1.054453241522424e-05, + "chamfer": 8.022942893148866e-06, + "track": 2.521589067328023e-06, + "acceleration": 1.3685647104466625e-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": 1.0647753697412554e-05, + "observation_loss": 1.0562294846749865e-05, + "chamfer": 8.01224450697191e-06, + "track": 2.550049885030603e-06, + "acceleration": 8.54588932952538e-08, + "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": 1.0697720426833257e-05, + "observation_loss": 1.0441014637763146e-05, + "chamfer": 7.932441803859547e-06, + "track": 2.508572606529924e-06, + "acceleration": 2.5670567538327305e-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": 1.0863442184927408e-05, + "observation_loss": 1.0223174285783898e-05, + "chamfer": 7.799869308655616e-06, + "track": 2.423304977128282e-06, + "acceleration": 6.402682402040227e-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": 1.056307701219339e-05, + "observation_loss": 1.0153646144317463e-05, + "chamfer": 7.747430572635494e-06, + "track": 2.406215571681969e-06, + "acceleration": 4.0943081103250734e-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": 1.0343675967305899e-05, + "observation_loss": 1.0087253940582741e-05, + "chamfer": 7.697454748267774e-06, + "track": 2.3897991923149675e-06, + "acceleration": 2.5642196987973875e-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": 1.0954618119285442e-05, + "observation_loss": 9.97926872514654e-06, + "chamfer": 7.6137034739076626e-06, + "track": 2.365565705986228e-06, + "acceleration": 9.753497351994156e-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": 1.0570808626653161e-05, + "observation_loss": 1.0036876119556837e-05, + "chamfer": 7.667275895073544e-06, + "track": 2.3696006792306434e-06, + "acceleration": 5.339322797226487e-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": 1.026202880893834e-05, + "observation_loss": 1.012236771202879e-05, + "chamfer": 7.721821930317674e-06, + "track": 2.400546009084792e-06, + "acceleration": 1.3966068479476235e-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": 1.0401319741504267e-05, + "observation_loss": 1.0156515600101557e-05, + "chamfer": 7.711523721809499e-06, + "track": 2.444992105665733e-06, + "acceleration": 2.448044824632234e-07, + "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": 1.0475108865648508e-05, + "observation_loss": 1.0224921425106004e-05, + "chamfer": 7.731470759608783e-06, + "track": 2.4934508928708965e-06, + "acceleration": 2.501871847471193e-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": 1.075645377568435e-05, + "observation_loss": 1.0520172509131953e-05, + "chamfer": 7.87612225394696e-06, + "track": 2.6440500278113177e-06, + "acceleration": 2.3628103917872068e-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": 1.103490012610564e-05, + "observation_loss": 1.0839999049494509e-05, + "chamfer": 8.031013749132399e-06, + "track": 2.80898530036211e-06, + "acceleration": 1.949013324065163e-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": 1.1346120118105318e-05, + "observation_loss": 1.1198738320672419e-05, + "chamfer": 8.2294900494162e-06, + "track": 2.9692482712562196e-06, + "acceleration": 1.4738149900495046e-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": 1.1504868780320976e-05, + "observation_loss": 1.1384485333110206e-05, + "chamfer": 8.321037057612557e-06, + "track": 3.0634485028713243e-06, + "acceleration": 1.2038368879530026e-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": 1.1847957466670778e-05, + "observation_loss": 1.1596667718549725e-05, + "chamfer": 8.454593626083806e-06, + "track": 3.1420740924659185e-06, + "acceleration": 2.5128935021712095e-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": 1.2120073733967729e-05, + "observation_loss": 1.192955005535623e-05, + "chamfer": 8.664507731737103e-06, + "track": 3.2650425509928027e-06, + "acceleration": 1.9052325228585687e-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": 1.2279419934202451e-05, + "observation_loss": 1.219412934005959e-05, + "chamfer": 8.816372428555042e-06, + "track": 3.3777571388782235e-06, + "acceleration": 8.529092809794747e-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": 1.2391263226163574e-05, + "observation_loss": 1.2316762877162546e-05, + "chamfer": 8.876279935066123e-06, + "track": 3.4404833968437742e-06, + "acceleration": 7.450039163359179e-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": 1.246477768290788e-05, + "observation_loss": 1.2394911209412385e-05, + "chamfer": 8.931236152420752e-06, + "track": 3.4636748296179576e-06, + "acceleration": 6.986680034515302e-08, + "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": 1.2478456483222544e-05, + "observation_loss": 1.2410969247866888e-05, + "chamfer": 8.91610216058325e-06, + "track": 3.494866859909962e-06, + "acceleration": 6.7486865873434e-08, + "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": 1.2472228263504803e-05, + "observation_loss": 1.2426229659467936e-05, + "chamfer": 8.901557521312498e-06, + "track": 3.524671683408087e-06, + "acceleration": 4.599893443923975e-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": 1.254564540431602e-05, + "observation_loss": 1.2407102076394949e-05, + "chamfer": 8.893128324416466e-06, + "track": 3.5139735246048076e-06, + "acceleration": 1.3854293001713813e-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": 1.2521210919658188e-05, + "observation_loss": 1.2388364666549023e-05, + "chamfer": 8.882425390766002e-06, + "track": 3.505939275783021e-06, + "acceleration": 1.328459404703608e-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": 1.2374867765174713e-05, + "observation_loss": 1.2361911103653256e-05, + "chamfer": 8.85191184352152e-06, + "track": 3.509999487505411e-06, + "acceleration": 1.2956771655581178e-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": 1.238997901964467e-05, + "observation_loss": 1.23311028801254e-05, + "chamfer": 8.82187123352196e-06, + "track": 3.509231646603439e-06, + "acceleration": 5.887637044565963e-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": 1.2446937944332603e-05, + "observation_loss": 1.2314926607359666e-05, + "chamfer": 8.803765922493767e-06, + "track": 3.511160912239575e-06, + "acceleration": 1.3201089643644082e-07, + "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": 1.2337652151472867e-05, + "observation_loss": 1.2215937204018701e-05, + "chamfer": 8.747417268750723e-06, + "track": 3.468520162641653e-06, + "acceleration": 1.2171513219527696e-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": 1.2102645086997654e-05, + "observation_loss": 1.2068443538737483e-05, + "chamfer": 8.670772331242915e-06, + "track": 3.397671207494568e-06, + "acceleration": 3.420147365318371e-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": 9.27887893690619e-06, + "chamfer_mean": 6.412627106063458e-06, + "track_mean": 1.843237216192506e-06, + "acceleration_mean": 1.0230145633949306e-06, + "observation_score": 8.255864356006745e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4306250259996887 + }, + "score_arrays_file": "pass_scores/pass_end_0156.npz", + "score_arrays_sha256": "5c51ce73619cbafcd28943539f85ecdad169c891f443deac4a820d6f02a141aa" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0157.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0157.json new file mode 100644 index 0000000000000000000000000000000000000000..fc546390eea3c554cf776fafb237d740ee27a573 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0157.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15072, + "completed_passes": 157, + "snapshot": "pass_end_0157", + "candidate": true, + "snapshot_arrays_sha256": "0711bce4d1e5d385b0c1472a5846ac90461f64cd45d2f2a12f262fa45b5a428c", + "score": 8.24239313601538e-06, + "score_result": { + "score": 8.24239313601538e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9489247026504017e-06, + 3.261592382841627e-06, + 3.6164103676128434e-06, + 4.32175193054718e-06, + 5.113460701977601e-06, + 5.489772775035817e-06, + 5.465473350341199e-06, + 5.356877863960108e-06, + 5.196624442760367e-06, + 5.1839056141034234e-06, + 5.391730610426748e-06, + 5.61189153813757e-06, + 5.847231477673631e-06, + 6.000821485940833e-06, + 6.0514494180097245e-06, + 6.1723485487164e-06, + 6.025753464200534e-06, + 5.755789970862679e-06, + 5.5786654229450505e-06, + 5.510917617357336e-06, + 5.473680175782647e-06, + 5.326359314494766e-06, + 5.1057177188340575e-06, + 5.023242465540534e-06, + 5.151530785951763e-06, + 5.4426850510935765e-06, + 5.731521923735272e-06, + 5.903794772166293e-06, + 5.936509296589065e-06, + 5.880091066501336e-06, + 5.806277840747498e-06, + 5.886252438358497e-06, + 6.070754352549557e-06, + 6.321205091808224e-06, + 6.532430234074127e-06, + 6.835937711002771e-06, + 7.116546385077527e-06, + 7.177046882134164e-06, + 7.049781743262429e-06, + 7.072739663271932e-06, + 7.3832579801091924e-06, + 7.727059710305184e-06, + 7.86370765126776e-06, + 7.992030077730305e-06, + 8.044489732128568e-06, + 8.052864359342493e-06, + 8.073657227214426e-06, + 8.442057151114568e-06, + 9.075910384126473e-06, + 9.554377356835175e-06, + 9.413240150024649e-06, + 9.100775059778243e-06, + 8.839500878821127e-06, + 8.627534043625928e-06, + 8.579047971579712e-06, + 8.62917659105733e-06, + 8.671131581650116e-06, + 8.700150829099584e-06, + 8.757111572776921e-06, + 8.862635695550125e-06, + 9.008022971102037e-06, + 9.13595977181103e-06, + 9.399571354151703e-06, + 9.736637366586365e-06, + 1.0178162483498454e-05, + 1.0368070434196852e-05, + 1.0469088010722771e-05, + 1.0548019417910837e-05, + 1.0569390724413097e-05, + 1.0448619832459372e-05, + 1.0231407031824347e-05, + 1.0163459592149593e-05, + 1.0099280189024284e-05, + 9.983215932152234e-06, + 1.0042518624686636e-05, + 1.0127540917892475e-05, + 1.0158626537304372e-05, + 1.0223546269116923e-05, + 1.0517433111090213e-05, + 1.0835266948561184e-05, + 1.1193662430741824e-05, + 1.1382174307073e-05, + 1.159333623945713e-05, + 1.1923283636861015e-05, + 1.2189793778816238e-05, + 1.2312100807321258e-05, + 1.23898917081533e-05, + 1.2406871064740699e-05, + 1.2422294275893364e-05, + 1.2402890206431039e-05, + 1.2385643458401319e-05, + 1.2360452274151612e-05, + 1.2330042409303132e-05, + 1.2314047125983052e-05, + 1.2215137758175842e-05, + 1.20690674521029e-05 + ] + ], + "episode_mean_losses": [ + 8.24239313601538e-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": 2.9489247026504017e-06, + "observation_loss": 2.9489247026504017e-06, + "chamfer": 2.5012764126586262e-06, + "track": 4.476483752569038e-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": 4.2994808609364554e-05, + "observation_loss": 3.261592382841627e-06, + "chamfer": 2.7592120659392094e-06, + "track": 5.023803737458366e-07, + "acceleration": 3.973321508965455e-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": 2.5760182325029746e-05, + "observation_loss": 3.6164103676128434e-06, + "chamfer": 3.0553023862012196e-06, + "track": 5.611080382550426e-07, + "acceleration": 2.2143771275295876e-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": 1.2125809007557109e-05, + "observation_loss": 4.32175193054718e-06, + "chamfer": 3.6183901102049276e-06, + "track": 7.033618771856709e-07, + "acceleration": 7.804056622262578e-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": 9.568788300384767e-06, + "observation_loss": 5.113460701977601e-06, + "chamfer": 4.225078555464279e-06, + "track": 8.883820896699035e-07, + "acceleration": 4.455327143659815e-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": 7.098132755345432e-06, + "observation_loss": 5.489772775035817e-06, + "chamfer": 4.499727310758317e-06, + "track": 9.90045577964338e-07, + "acceleration": 1.608359980309615e-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": 6.524696800624952e-06, + "observation_loss": 5.465473350341199e-06, + "chamfer": 4.459066531126155e-06, + "track": 1.0064068192150444e-06, + "acceleration": 1.0592232229100773e-06, + "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": 5.984330528008286e-06, + "observation_loss": 5.356877863960108e-06, + "chamfer": 4.3695840759028215e-06, + "track": 9.87293901744124e-07, + "acceleration": 6.27452720891597e-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": 6.124150331743294e-06, + "observation_loss": 5.196624442760367e-06, + "chamfer": 4.2509464037721045e-06, + "track": 9.45678209518519e-07, + "acceleration": 9.275259458263463e-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": 5.8592058849171735e-06, + "observation_loss": 5.1839056141034234e-06, + "chamfer": 4.256064130458981e-06, + "track": 9.278413699576049e-07, + "acceleration": 6.753001571269124e-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": 5.756591235694941e-06, + "observation_loss": 5.391730610426748e-06, + "chamfer": 4.441132659849245e-06, + "track": 9.505980642643408e-07, + "acceleration": 3.6486079579844954e-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": 6.049162948329467e-06, + "observation_loss": 5.61189153813757e-06, + "chamfer": 4.62497564512887e-06, + "track": 9.869158930086996e-07, + "acceleration": 4.372715807221539e-07, + "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": 6.118386863818159e-06, + "observation_loss": 5.847231477673631e-06, + "chamfer": 4.829041245102417e-06, + "track": 1.0181901188843767e-06, + "acceleration": 2.7115518719256215e-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": 6.320092779787956e-06, + "observation_loss": 6.000821485940833e-06, + "chamfer": 4.961473678122275e-06, + "track": 1.0393480351922335e-06, + "acceleration": 3.192711233168666e-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": 6.5926401475735474e-06, + "observation_loss": 6.0514494180097245e-06, + "chamfer": 5.010213044442935e-06, + "track": 1.041236600940465e-06, + "acceleration": 5.411906158769852e-07, + "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": 6.527531695610378e-06, + "observation_loss": 6.1723485487164e-06, + "chamfer": 5.111898644827306e-06, + "track": 1.0604497902022558e-06, + "acceleration": 3.5518337426765356e-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": 6.2365547819354106e-06, + "observation_loss": 6.025753464200534e-06, + "chamfer": 4.991783498553559e-06, + "track": 1.0339700793338125e-06, + "acceleration": 2.108012608914578e-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": 6.108150500949705e-06, + "observation_loss": 5.755789970862679e-06, + "chamfer": 4.776502919412451e-06, + "track": 9.79287165137066e-07, + "acceleration": 3.5236055850873527e-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": 5.767156835645437e-06, + "observation_loss": 5.5786654229450505e-06, + "chamfer": 4.638019163394347e-06, + "track": 9.406462027072848e-07, + "acceleration": 1.8849154059807915e-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": 5.6544781728007365e-06, + "observation_loss": 5.510917617357336e-06, + "chamfer": 4.5843294174119364e-06, + "track": 9.265882567888184e-07, + "acceleration": 1.4356061228681938e-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": 5.702259386453079e-06, + "observation_loss": 5.473680175782647e-06, + "chamfer": 4.5548135858553e-06, + "track": 9.188666467707662e-07, + "acceleration": 2.2857935277897923e-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": 5.606450031336863e-06, + "observation_loss": 5.326359314494766e-06, + "chamfer": 4.438861196831567e-06, + "track": 8.874980608197802e-07, + "acceleration": 2.8009094421577174e-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": 5.290243279887363e-06, + "observation_loss": 5.1057177188340575e-06, + "chamfer": 4.263206392352004e-06, + "track": 8.425110991083784e-07, + "acceleration": 1.8452547578817757e-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": 5.161223725735908e-06, + "observation_loss": 5.023242465540534e-06, + "chamfer": 4.18990839534672e-06, + "track": 8.33334127037233e-07, + "acceleration": 1.3798143072563107e-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": 5.29717726749368e-06, + "observation_loss": 5.151530785951763e-06, + "chamfer": 4.27766053689993e-06, + "track": 8.738704195820901e-07, + "acceleration": 1.4564641048764315e-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": 5.7652614486869425e-06, + "observation_loss": 5.4426850510935765e-06, + "chamfer": 4.492118023335934e-06, + "track": 9.505668572273862e-07, + "acceleration": 3.2257628390652826e-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": 6.101731742091943e-06, + "observation_loss": 5.731521923735272e-06, + "chamfer": 4.702891146735055e-06, + "track": 1.0286310043738922e-06, + "acceleration": 3.7020984677837987e-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": 6.1716887103102636e-06, + "observation_loss": 5.903794772166293e-06, + "chamfer": 4.834122592001222e-06, + "track": 1.0696724075387465e-06, + "acceleration": 2.678938813005516e-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": 6.458917596319225e-06, + "observation_loss": 5.936509296589065e-06, + "chamfer": 4.868401902058395e-06, + "track": 1.0681071671569953e-06, + "acceleration": 5.224081860433216e-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": 6.084574124542996e-06, + "observation_loss": 5.880091066501336e-06, + "chamfer": 4.828752935281955e-06, + "track": 1.0513380175325437e-06, + "acceleration": 2.0448297277653182e-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": 5.8880564210994635e-06, + "observation_loss": 5.806277840747498e-06, + "chamfer": 4.775079105456825e-06, + "track": 1.0311985079169972e-06, + "acceleration": 8.177859456282022e-08, + "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": 5.955492724751821e-06, + "observation_loss": 5.886252438358497e-06, + "chamfer": 4.836663720197976e-06, + "track": 1.0495889455341967e-06, + "acceleration": 6.924042139644371e-08, + "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": 6.169369498820743e-06, + "observation_loss": 6.070754352549557e-06, + "chamfer": 4.982667633157689e-06, + "track": 1.0880868330787052e-06, + "acceleration": 9.861508942776709e-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": 6.442403446271783e-06, + "observation_loss": 6.321205091808224e-06, + "chamfer": 5.167488779989071e-06, + "track": 1.153716311819153e-06, + "acceleration": 1.2119832604184921e-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": 6.633620159846032e-06, + "observation_loss": 6.532430234074127e-06, + "chamfer": 5.332179171091411e-06, + "track": 1.200250949295878e-06, + "acceleration": 1.0118998261532397e-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": 7.0071982918307185e-06, + "observation_loss": 6.835937711002771e-06, + "chamfer": 5.5603691180294845e-06, + "track": 1.2755688203469617e-06, + "acceleration": 1.7126036766512698e-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": 7.179249678301858e-06, + "observation_loss": 7.116546385077527e-06, + "chamfer": 5.7689262575877365e-06, + "track": 1.3476200138029526e-06, + "acceleration": 6.270327190804892e-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": 7.536319117207313e-06, + "observation_loss": 7.177046882134164e-06, + "chamfer": 5.826291271660011e-06, + "track": 1.3507554967873148e-06, + "acceleration": 3.592721498080209e-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": 7.206975169538055e-06, + "observation_loss": 7.049781743262429e-06, + "chamfer": 5.749481715611182e-06, + "track": 1.300300255024922e-06, + "acceleration": 1.5719356838417298e-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": 7.258977348101325e-06, + "observation_loss": 7.072739663271932e-06, + "chamfer": 5.770898951595882e-06, + "track": 1.30184071167605e-06, + "acceleration": 1.862375995642651e-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": 7.64684682508232e-06, + "observation_loss": 7.3832579801091924e-06, + "chamfer": 5.999438144499436e-06, + "track": 1.383819608236081e-06, + "acceleration": 2.635892144553509e-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": 7.91557158663636e-06, + "observation_loss": 7.727059710305184e-06, + "chamfer": 6.240878065000288e-06, + "track": 1.486181986365409e-06, + "acceleration": 1.8851230265681806e-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": 7.9544761319994e-06, + "observation_loss": 7.86370765126776e-06, + "chamfer": 6.320139164017746e-06, + "track": 1.5435682598763378e-06, + "acceleration": 9.07687009998881e-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": 8.037649422476534e-06, + "observation_loss": 7.992030077730305e-06, + "chamfer": 6.403606221283553e-06, + "track": 1.5884238564467523e-06, + "acceleration": 4.561921329582219e-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": 8.119750418700278e-06, + "observation_loss": 8.044489732128568e-06, + "chamfer": 6.434695478674257e-06, + "track": 1.6097943671411485e-06, + "acceleration": 7.526099210508619e-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": 8.154540410032496e-06, + "observation_loss": 8.052864359342493e-06, + "chamfer": 6.4406704041175544e-06, + "track": 1.6121935004775878e-06, + "acceleration": 1.0167584463260937e-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": 8.2813539847848e-06, + "observation_loss": 8.073657227214426e-06, + "chamfer": 6.452865363826277e-06, + "track": 1.620791863388149e-06, + "acceleration": 2.0769665809439175e-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": 8.58016574056819e-06, + "observation_loss": 8.442057151114568e-06, + "chamfer": 6.7065993789583445e-06, + "track": 1.7354575447825482e-06, + "acceleration": 1.3810839050165669e-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": 9.157956810668111e-06, + "observation_loss": 9.075910384126473e-06, + "chamfer": 7.129510777303949e-06, + "track": 1.9463996068225242e-06, + "acceleration": 8.204637680364613e-08, + "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": 9.825431334320456e-06, + "observation_loss": 9.554377356835175e-06, + "chamfer": 7.454943443008233e-06, + "track": 2.099434141200618e-06, + "acceleration": 2.7105357958134846e-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": 9.570318979967851e-06, + "observation_loss": 9.413240150024649e-06, + "chamfer": 7.364473731286125e-06, + "track": 2.048766646112199e-06, + "acceleration": 1.5707853151525342e-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": 9.29561701923376e-06, + "observation_loss": 9.100775059778243e-06, + "chamfer": 7.171698598540388e-06, + "track": 1.9290766886115307e-06, + "acceleration": 1.9484156155158416e-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": 8.88713384483708e-06, + "observation_loss": 8.839500878821127e-06, + "chamfer": 6.998973731242586e-06, + "track": 1.8405266928311903e-06, + "acceleration": 4.763291627796207e-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": 8.681018698553089e-06, + "observation_loss": 8.627534043625928e-06, + "chamfer": 6.850044883321971e-06, + "track": 1.7774892739907955e-06, + "acceleration": 5.3484527029468154e-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": 8.640050509711727e-06, + "observation_loss": 8.579047971579712e-06, + "chamfer": 6.808457328588702e-06, + "track": 1.770590301930497e-06, + "acceleration": 6.100237470718639e-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": 8.72422333486611e-06, + "observation_loss": 8.62917659105733e-06, + "chamfer": 6.8379790718609e-06, + "track": 1.791197632883268e-06, + "acceleration": 9.504648090796763e-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": 8.816072295303456e-06, + "observation_loss": 8.671131581650116e-06, + "chamfer": 6.8657504925795365e-06, + "track": 1.8053809753837413e-06, + "acceleration": 1.4494037259282777e-07, + "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": 8.896344297681935e-06, + "observation_loss": 8.700150829099584e-06, + "chamfer": 6.866701824037591e-06, + "track": 1.833448777688318e-06, + "acceleration": 1.9619353963662434e-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": 9.097012480197009e-06, + "observation_loss": 8.757111572776921e-06, + "chamfer": 6.905628652020823e-06, + "track": 1.8514826933824224e-06, + "acceleration": 3.3990048109444615e-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": 9.592004062142223e-06, + "observation_loss": 8.862635695550125e-06, + "chamfer": 6.959834990993841e-06, + "track": 1.9028003634957713e-06, + "acceleration": 7.293685371223546e-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": 1.0030165867647156e-05, + "observation_loss": 9.008022971102037e-06, + "chamfer": 7.0625596890749875e-06, + "track": 1.945462827279698e-06, + "acceleration": 1.0221428965451196e-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": 9.662848242442124e-06, + "observation_loss": 9.13595977181103e-06, + "chamfer": 7.152588295866735e-06, + "track": 1.98337124857062e-06, + "acceleration": 5.268881864139985e-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": 9.582431630406063e-06, + "observation_loss": 9.399571354151703e-06, + "chamfer": 7.334871042985469e-06, + "track": 2.064700083792559e-06, + "acceleration": 1.828603330977785e-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": 9.867362678050995e-06, + "observation_loss": 9.736637366586365e-06, + "chamfer": 7.547620498371543e-06, + "track": 2.1890164134674706e-06, + "acceleration": 1.3072551041659608e-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": 1.0236836715193931e-05, + "observation_loss": 1.0178162483498454e-05, + "chamfer": 7.835465112293605e-06, + "track": 2.3426973712048493e-06, + "acceleration": 5.86745869668448e-08, + "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": 1.0417770681669936e-05, + "observation_loss": 1.0368070434196852e-05, + "chamfer": 7.952303349156864e-06, + "track": 2.4157673124136636e-06, + "acceleration": 4.9699981019557526e-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": 1.0690315320971422e-05, + "observation_loss": 1.0469088010722771e-05, + "chamfer": 8.006813004612923e-06, + "track": 2.4622745513624977e-06, + "acceleration": 2.2122755183318077e-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": 1.0685647794161923e-05, + "observation_loss": 1.0548019417910837e-05, + "chamfer": 8.025526767596602e-06, + "track": 2.5224921955668833e-06, + "acceleration": 1.376284757270696e-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": 1.0655597179720644e-05, + "observation_loss": 1.0569390724413097e-05, + "chamfer": 8.017485924938228e-06, + "track": 2.55190525422222e-06, + "acceleration": 8.620605740361498e-08, + "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": 1.0706707143981475e-05, + "observation_loss": 1.0448619832459372e-05, + "chamfer": 7.937675036373548e-06, + "track": 2.5109447960858233e-06, + "acceleration": 2.5808722625697555e-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": 1.0874778126890305e-05, + "observation_loss": 1.0231407031824347e-05, + "chamfer": 7.805409040884115e-06, + "track": 2.4259977635665564e-06, + "acceleration": 6.433713792830531e-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": 1.0573787221801467e-05, + "observation_loss": 1.0163459592149593e-05, + "chamfer": 7.754209036647808e-06, + "track": 2.4092503281281097e-06, + "acceleration": 4.103276296518743e-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": 1.0381028005213011e-05, + "observation_loss": 1.0099280189024284e-05, + "chamfer": 7.706003088969737e-06, + "track": 2.393277100054547e-06, + "acceleration": 2.8174761723676056e-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": 1.1113353139080573e-05, + "observation_loss": 9.983215932152234e-06, + "chamfer": 7.615763024659827e-06, + "track": 2.3674526801187312e-06, + "acceleration": 1.1301369795546634e-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": 1.0666107300494332e-05, + "observation_loss": 1.0042518624686636e-05, + "chamfer": 7.670822014915757e-06, + "track": 2.3716968371445546e-06, + "acceleration": 6.235885621208581e-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": 1.0287471013725735e-05, + "observation_loss": 1.0127540917892475e-05, + "chamfer": 7.725280738668516e-06, + "track": 2.4022601792239584e-06, + "acceleration": 1.5992999635727756e-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": 1.0414551979920361e-05, + "observation_loss": 1.0158626537304372e-05, + "chamfer": 7.712870683462825e-06, + "track": 2.445756308588898e-06, + "acceleration": 2.5592521524231415e-07, + "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": 1.0476454917807132e-05, + "observation_loss": 1.0223546269116923e-05, + "chamfer": 7.730904144409578e-06, + "track": 2.4926418973336695e-06, + "acceleration": 2.529081939428579e-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": 1.0756754818430636e-05, + "observation_loss": 1.0517433111090213e-05, + "chamfer": 7.875276423874311e-06, + "track": 2.642157141963253e-06, + "acceleration": 2.3932193471409846e-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": 1.1028685548808426e-05, + "observation_loss": 1.0835266948561184e-05, + "chamfer": 8.029261152842082e-06, + "track": 2.806005340971751e-06, + "acceleration": 1.934184581386944e-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": 1.1342759535182267e-05, + "observation_loss": 1.1193662430741824e-05, + "chamfer": 8.2269771155552e-06, + "track": 2.9666853151866235e-06, + "acceleration": 1.4909730339240923e-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": 1.1506979717523791e-05, + "observation_loss": 1.1382174307073e-05, + "chamfer": 8.3205977716716e-06, + "track": 3.0615767627750756e-06, + "acceleration": 1.2480535360737122e-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": 1.184295706480043e-05, + "observation_loss": 1.159333623945713e-05, + "chamfer": 8.453485861537047e-06, + "track": 3.139850605293759e-06, + "acceleration": 2.496209390301374e-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": 1.210923983308021e-05, + "observation_loss": 1.1923283636861015e-05, + "chamfer": 8.661516403662972e-06, + "track": 3.2617674605717184e-06, + "acceleration": 1.859564093820154e-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": 1.2273605534574017e-05, + "observation_loss": 1.2189793778816238e-05, + "chamfer": 8.815302862785757e-06, + "track": 3.374490688656806e-06, + "acceleration": 8.381201155316376e-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": 1.2385111404000781e-05, + "observation_loss": 1.2312100807321258e-05, + "chamfer": 8.874843842932023e-06, + "track": 3.4372567370155593e-06, + "acceleration": 7.30107956314896e-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": 1.2459669960662723e-05, + "observation_loss": 1.23898917081533e-05, + "chamfer": 8.929472642194014e-06, + "track": 3.460418611211935e-06, + "acceleration": 6.977870725677349e-08, + "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": 1.2474146387830842e-05, + "observation_loss": 1.2406871064740699e-05, + "chamfer": 8.91512718226295e-06, + "track": 3.4917441098514246e-06, + "acceleration": 6.727576362663967e-08, + "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": 1.2467397027648985e-05, + "observation_loss": 1.2422294275893364e-05, + "chamfer": 8.90088176674908e-06, + "track": 3.5214127365179593e-06, + "acceleration": 4.5102456880385944e-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": 1.2541867363324855e-05, + "observation_loss": 1.2402890206431039e-05, + "chamfer": 8.892064215615392e-06, + "track": 3.5108262181893224e-06, + "acceleration": 1.3897681583330268e-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": 1.251844150829129e-05, + "observation_loss": 1.2385643458401319e-05, + "chamfer": 8.882267138687894e-06, + "track": 3.5033760923397494e-06, + "acceleration": 1.327978083054404e-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": 1.2373217032290995e-05, + "observation_loss": 1.2360452274151612e-05, + "chamfer": 8.852190148900263e-06, + "track": 3.5082623526250245e-06, + "acceleration": 1.276475281031253e-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": 1.2389883522700984e-05, + "observation_loss": 1.2330042409303132e-05, + "chamfer": 8.82246058608871e-06, + "track": 3.507581823214423e-06, + "acceleration": 5.984105655443273e-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": 1.2447226254153065e-05, + "observation_loss": 1.2314047125983052e-05, + "chamfer": 8.804614481050521e-06, + "track": 3.5094330996798817e-06, + "acceleration": 1.3317912817001343e-07, + "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": 1.2336897270870395e-05, + "observation_loss": 1.2215137758175842e-05, + "chamfer": 8.748260370339267e-06, + "track": 3.4668778425839264e-06, + "acceleration": 1.217591005797658e-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": 1.2102865184715483e-05, + "observation_loss": 1.20690674521029e-05, + "chamfer": 8.67252947500674e-06, + "track": 3.396537522348808e-06, + "acceleration": 3.379759405675031e-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": 9.266577317627403e-06, + "chamfer_mean": 6.402801979277228e-06, + "track_mean": 1.8395911445997133e-06, + "acceleration_mean": 1.0241841284138371e-06, + "observation_score": 8.24239313601538e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4153051909997885 + }, + "score_arrays_file": "pass_scores/pass_end_0157.npz", + "score_arrays_sha256": "f52cf4c8d5931b9bdb4cd35225cb07c0f422a5f630f9d1e39f5ad075ee819396" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0158.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0158.json new file mode 100644 index 0000000000000000000000000000000000000000..ca83a1211be7e9ed6988a729986911cf7dd0a973 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0158.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15168, + "completed_passes": 158, + "snapshot": "pass_end_0158", + "candidate": true, + "snapshot_arrays_sha256": "35f37236db5eed27e772c8704deffd2d6e2ef9d2e5777aa7731e9f255a4fcfb9", + "score": 8.229428895371408e-06, + "score_result": { + "score": 8.229428895371408e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9489824555639643e-06, + 3.2592076877335785e-06, + 3.6116869068791857e-06, + 4.308620191295631e-06, + 5.09492565470282e-06, + 5.468840754474513e-06, + 5.441787379822927e-06, + 5.33409183844924e-06, + 5.1754500418610405e-06, + 5.162943580216961e-06, + 5.373588010115782e-06, + 5.59729687665822e-06, + 5.8322061704529915e-06, + 5.98463520873338e-06, + 6.03287708145217e-06, + 6.152060905151302e-06, + 6.0063412092858925e-06, + 5.737389074056409e-06, + 5.561190846492536e-06, + 5.491559932124801e-06, + 5.4519850891665556e-06, + 5.304900696501136e-06, + 5.085829798190389e-06, + 5.004953436582582e-06, + 5.1309111768205184e-06, + 5.417990905698389e-06, + 5.707139280275442e-06, + 5.883265203010524e-06, + 5.918871465837583e-06, + 5.864615559403319e-06, + 5.7904385357687715e-06, + 5.871296707482543e-06, + 6.057679456716869e-06, + 6.306446266535204e-06, + 6.515110271720914e-06, + 6.8162808020133525e-06, + 7.096005901985336e-06, + 7.1571016633242834e-06, + 7.026383173069917e-06, + 7.043085133773275e-06, + 7.349325187533395e-06, + 7.6917231126572e-06, + 7.828321031411178e-06, + 7.955349246913102e-06, + 8.008332770259585e-06, + 8.017602340260055e-06, + 8.039593922148924e-06, + 8.408204848819878e-06, + 9.042434612638317e-06, + 9.520274034002796e-06, + 9.380667506775353e-06, + 9.069528459804133e-06, + 8.8097331172321e-06, + 8.600555702287238e-06, + 8.554442501917947e-06, + 8.606397386756726e-06, + 8.649993105791509e-06, + 8.679471648065373e-06, + 8.737069947528653e-06, + 8.843459909257945e-06, + 8.990205060399603e-06, + 9.119785318034701e-06, + 9.384742043039296e-06, + 9.724124538479373e-06, + 1.0167905202251859e-05, + 1.0361322893004399e-05, + 1.0465732884767931e-05, + 1.0549259059189353e-05, + 1.0573763574939221e-05, + 1.0454719813424163e-05, + 1.0239085895591415e-05, + 1.0173040209338069e-05, + 1.0111770279763732e-05, + 9.991354090743698e-06, + 1.0053260666609276e-05, + 1.0138355719391257e-05, + 1.0166198990191333e-05, + 1.022809010464698e-05, + 1.052074003382586e-05, + 1.0836707588168792e-05, + 1.1195820661669131e-05, + 1.1387273843865842e-05, + 1.1596137483138591e-05, + 1.1923560123250354e-05, + 1.2192323083581869e-05, + 1.2313998013269156e-05, + 1.2391956261126325e-05, + 1.2409582268446684e-05, + 1.242605230800109e-05, + 1.2405466804921161e-05, + 1.239002995134797e-05, + 1.2364792382868472e-05, + 1.2336588952166494e-05, + 1.2322009752097074e-05, + 1.2223006706335582e-05, + 1.2077958672307432e-05 + ] + ], + "episode_mean_losses": [ + 8.229428895371408e-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": 2.9489824555639643e-06, + "observation_loss": 2.9489824555639643e-06, + "chamfer": 2.501331209714408e-06, + "track": 4.47651160584428e-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": 4.2933290387736633e-05, + "observation_loss": 3.2592076877335785e-06, + "chamfer": 2.7571950340643525e-06, + "track": 5.020125968258071e-07, + "acceleration": 3.967408338212408e-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": 2.571139884821605e-05, + "observation_loss": 3.6116869068791857e-06, + "chamfer": 3.0514424906868953e-06, + "track": 5.602444730357092e-07, + "acceleration": 2.2099711713963188e-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": 1.2095607416995335e-05, + "observation_loss": 4.308620191295631e-06, + "chamfer": 3.6081789858144475e-06, + "track": 7.004410349509271e-07, + "acceleration": 7.786987225699704e-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": 9.553314157528803e-06, + "observation_loss": 5.09492565470282e-06, + "chamfer": 4.211398390907561e-06, + "track": 8.835273774820962e-07, + "acceleration": 4.458388957573334e-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": 7.074133463902399e-06, + "observation_loss": 5.468840754474513e-06, + "chamfer": 4.485351382754743e-06, + "track": 9.834893717197701e-07, + "acceleration": 1.6052928231147234e-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": 6.497552021755837e-06, + "observation_loss": 5.441787379822927e-06, + "chamfer": 4.443090801942162e-06, + "track": 9.986965778807644e-07, + "acceleration": 1.0557645282460726e-06, + "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": 5.962501290923683e-06, + "observation_loss": 5.33409183844924e-06, + "chamfer": 4.35452693636762e-06, + "track": 9.795646747079445e-07, + "acceleration": 6.284096230046998e-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": 6.098337053117575e-06, + "observation_loss": 5.1754500418610405e-06, + "chamfer": 4.2369078983028885e-06, + "track": 9.38542143558152e-07, + "acceleration": 9.228870680999535e-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": 5.831698217662051e-06, + "observation_loss": 5.162943580216961e-06, + "chamfer": 4.241436272423016e-06, + "track": 9.215071372636885e-07, + "acceleration": 6.687548648187658e-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": 5.7346005633007735e-06, + "observation_loss": 5.373588010115782e-06, + "chamfer": 4.4285302465141285e-06, + "track": 9.450576499148156e-07, + "acceleration": 3.6101249634157284e-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": 6.0237402976781595e-06, + "observation_loss": 5.59729687665822e-06, + "chamfer": 4.615261786966585e-06, + "track": 9.82035203378473e-07, + "acceleration": 4.26443307333102e-07, + "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": 6.092778221500339e-06, + "observation_loss": 5.8322061704529915e-06, + "chamfer": 4.818852175958455e-06, + "track": 1.0133541081813746e-06, + "acceleration": 2.6057222157760407e-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": 6.30528484180104e-06, + "observation_loss": 5.98463520873338e-06, + "chamfer": 4.950082256982569e-06, + "track": 1.0345527243771357e-06, + "acceleration": 3.206494909591129e-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": 6.562329872394912e-06, + "observation_loss": 6.03287708145217e-06, + "chamfer": 4.996593816031236e-06, + "track": 1.036283379107772e-06, + "acceleration": 5.29453018316417e-07, + "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": 6.494612080132356e-06, + "observation_loss": 6.152060905151302e-06, + "chamfer": 5.096682343719294e-06, + "track": 1.0553785614320077e-06, + "acceleration": 3.4255128866789164e-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": 6.217969712452032e-06, + "observation_loss": 6.0063412092858925e-06, + "chamfer": 4.977191565558314e-06, + "track": 1.0291494163539028e-06, + "acceleration": 2.1162868790725042e-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": 6.089665475883521e-06, + "observation_loss": 5.737389074056409e-06, + "chamfer": 4.762357093568426e-06, + "track": 9.75031866801146e-07, + "acceleration": 3.522763734054024e-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": 5.750254786107689e-06, + "observation_loss": 5.561190846492536e-06, + "chamfer": 4.624295797839295e-06, + "track": 9.368948212795658e-07, + "acceleration": 1.8906402488028107e-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": 5.636218247673241e-06, + "observation_loss": 5.491559932124801e-06, + "chamfer": 4.568857093545375e-06, + "track": 9.227029522662633e-07, + "acceleration": 1.4465851450040645e-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": 5.682888968294719e-06, + "observation_loss": 5.4519850891665556e-06, + "chamfer": 4.5374508772511035e-06, + "track": 9.145341550720332e-07, + "acceleration": 2.3090369438705238e-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": 5.587984560406767e-06, + "observation_loss": 5.304900696501136e-06, + "chamfer": 4.421552148414776e-06, + "track": 8.833485480863601e-07, + "acceleration": 2.830839491707593e-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": 5.270021574688144e-06, + "observation_loss": 5.085829798190389e-06, + "chamfer": 4.247037850291235e-06, + "track": 8.387918910557346e-07, + "acceleration": 1.8419163438920805e-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": 5.1450574574118946e-06, + "observation_loss": 5.004953436582582e-06, + "chamfer": 4.175050889898557e-06, + "track": 8.299023761537683e-07, + "acceleration": 1.401042055704238e-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": 5.277880063658813e-06, + "observation_loss": 5.1309111768205184e-06, + "chamfer": 4.261069534550188e-06, + "track": 8.698415854269115e-07, + "acceleration": 1.4696905736855115e-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": 5.741523636970669e-06, + "observation_loss": 5.417990905698389e-06, + "chamfer": 4.472489763429621e-06, + "track": 9.455010285819299e-07, + "acceleration": 3.2353267442886136e-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": 6.078215392335551e-06, + "observation_loss": 5.707139280275442e-06, + "chamfer": 4.683552106143907e-06, + "track": 1.0235874015052104e-06, + "acceleration": 3.7107599837327143e-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": 6.15250610280782e-06, + "observation_loss": 5.883265203010524e-06, + "chamfer": 4.817996796191437e-06, + "track": 1.0652685205059242e-06, + "acceleration": 2.6924107032755273e-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": 6.445838153013028e-06, + "observation_loss": 5.918871465837583e-06, + "chamfer": 4.854489816352725e-06, + "track": 1.0643818768585334e-06, + "acceleration": 5.269665734886075e-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": 6.071516963856993e-06, + "observation_loss": 5.864615559403319e-06, + "chamfer": 4.816483851755038e-06, + "track": 1.0481315939614433e-06, + "acceleration": 2.0690136182111019e-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": 5.873990176041843e-06, + "observation_loss": 5.7904385357687715e-06, + "chamfer": 4.762344815389952e-06, + "track": 1.0280938340656576e-06, + "acceleration": 8.355183211961048e-08, + "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": 5.943012638454093e-06, + "observation_loss": 5.871296707482543e-06, + "chamfer": 4.8245760808640625e-06, + "track": 1.0467203992448049e-06, + "acceleration": 7.171585991727625e-08, + "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": 6.156321433081757e-06, + "observation_loss": 6.057679456716869e-06, + "chamfer": 4.9720197239366826e-06, + "track": 1.0856598464670242e-06, + "acceleration": 9.864219663313634e-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": 6.425548690458527e-06, + "observation_loss": 6.306446266535204e-06, + "chamfer": 5.155542567081284e-06, + "track": 1.1509038131407578e-06, + "acceleration": 1.1910261576986159e-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": 6.616457085328875e-06, + "observation_loss": 6.515110271720914e-06, + "chamfer": 5.318260264175478e-06, + "track": 1.196849893858598e-06, + "acceleration": 1.0134681360796094e-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": 6.987834240135271e-06, + "observation_loss": 6.8162808020133525e-06, + "chamfer": 5.54455664314446e-06, + "track": 1.2717243862425676e-06, + "acceleration": 1.7155340970020916e-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": 7.158983407862252e-06, + "observation_loss": 7.096005901985336e-06, + "chamfer": 5.752506694989279e-06, + "track": 1.3434992069960572e-06, + "acceleration": 6.297749166606081e-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": 7.515799097745912e-06, + "observation_loss": 7.1571016633242834e-06, + "chamfer": 5.810492893942865e-06, + "track": 1.346608655694581e-06, + "acceleration": 3.586972354696627e-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": 7.183919933595462e-06, + "observation_loss": 7.026383173069917e-06, + "chamfer": 5.73096667721984e-06, + "track": 1.295416495850077e-06, + "acceleration": 1.575369310558017e-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": 7.2290931711904705e-06, + "observation_loss": 7.043085133773275e-06, + "chamfer": 5.747518116550054e-06, + "track": 1.2955672445968958e-06, + "acceleration": 1.860081937365976e-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": 7.612363788211951e-06, + "observation_loss": 7.349325187533395e-06, + "chamfer": 5.973332008579746e-06, + "track": 1.3759932926404872e-06, + "acceleration": 2.6303848699171795e-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": 7.879895747464616e-06, + "observation_loss": 7.6917231126572e-06, + "chamfer": 6.2138205976225436e-06, + "track": 1.4779027424083324e-06, + "acceleration": 1.881729048136549e-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": 7.91842830949463e-06, + "observation_loss": 7.828321031411178e-06, + "chamfer": 6.293195383477723e-06, + "track": 1.5351256479334552e-06, + "acceleration": 9.010738466486146e-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": 8.001370588317513e-06, + "observation_loss": 7.955349246913102e-06, + "chamfer": 6.375710654538125e-06, + "track": 1.5796383650013013e-06, + "acceleration": 4.6020975474903025e-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": 8.083376087597571e-06, + "observation_loss": 8.008332770259585e-06, + "chamfer": 6.407322871382348e-06, + "track": 1.6010097851903993e-06, + "acceleration": 7.504304733174649e-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": 8.119437552522868e-06, + "observation_loss": 8.017602340260055e-06, + "chamfer": 6.4139826463360805e-06, + "track": 1.603619466550299e-06, + "acceleration": 1.0183531884422337e-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": 8.246623110608198e-06, + "observation_loss": 8.039593922148924e-06, + "chamfer": 6.427031621569768e-06, + "track": 1.6125619595186436e-06, + "acceleration": 2.070288758204697e-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": 8.54617974255234e-06, + "observation_loss": 8.408204848819878e-06, + "chamfer": 6.681179002043791e-06, + "track": 1.7270257330892491e-06, + "acceleration": 1.379749221541715e-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": 9.12453469936736e-06, + "observation_loss": 9.042434612638317e-06, + "chamfer": 7.105261829565279e-06, + "track": 1.937172783073038e-06, + "acceleration": 8.210027147015353e-08, + "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": 9.791100637812633e-06, + "observation_loss": 9.520274034002796e-06, + "chamfer": 7.430499408656033e-06, + "track": 2.0897743979730876e-06, + "acceleration": 2.708261774841958e-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": 9.538067388348281e-06, + "observation_loss": 9.380667506775353e-06, + "chamfer": 7.340966931224102e-06, + "track": 2.0397003481775755e-06, + "acceleration": 1.5740015157916787e-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": 9.265354492526967e-06, + "observation_loss": 9.069528459804133e-06, + "chamfer": 7.148807071644114e-06, + "track": 1.9207209334126674e-06, + "acceleration": 1.9582630272907409e-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": 8.8578008217155e-06, + "observation_loss": 8.8097331172321e-06, + "chamfer": 6.9770985646755435e-06, + "track": 1.8326348936170689e-06, + "acceleration": 4.806809883461938e-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": 8.654343218950089e-06, + "observation_loss": 8.600555702287238e-06, + "chamfer": 6.83014559399453e-06, + "track": 1.770410221979546e-06, + "acceleration": 5.378729639460289e-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": 8.615478691353928e-06, + "observation_loss": 8.554442501917947e-06, + "chamfer": 6.790371571696596e-06, + "track": 1.7640709302213509e-06, + "acceleration": 6.103639549337458e-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": 8.692908522789367e-06, + "observation_loss": 8.606397386756726e-06, + "chamfer": 6.821449460403528e-06, + "track": 1.7849483811005484e-06, + "acceleration": 8.651111471635886e-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": 8.76235390023794e-06, + "observation_loss": 8.649993105791509e-06, + "chamfer": 6.850440513517242e-06, + "track": 1.7995524785874295e-06, + "acceleration": 1.1236105024181597e-07, + "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": 8.867478754837066e-06, + "observation_loss": 8.679471648065373e-06, + "chamfer": 6.851802027085796e-06, + "track": 1.8276700757269282e-06, + "acceleration": 1.880070783499832e-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": 9.077715731109492e-06, + "observation_loss": 8.737069947528653e-06, + "chamfer": 6.891349130455637e-06, + "track": 1.84572058969934e-06, + "acceleration": 3.4064609621964337e-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": 9.574646355758887e-06, + "observation_loss": 8.843459909257945e-06, + "chamfer": 6.946410394448321e-06, + "track": 1.8970498558701365e-06, + "acceleration": 7.311864465009421e-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": 1.0016382475441787e-05, + "observation_loss": 8.990205060399603e-06, + "chamfer": 7.050370641081827e-06, + "track": 1.9398346466914518e-06, + "acceleration": 1.026177528729022e-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": 9.650459105614573e-06, + "observation_loss": 9.119785318034701e-06, + "chamfer": 7.141662990761688e-06, + "track": 1.9781225546466885e-06, + "acceleration": 5.306735602061963e-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": 9.56957956077531e-06, + "observation_loss": 9.384742043039296e-06, + "chamfer": 7.3248161243100185e-06, + "track": 2.059925691355602e-06, + "acceleration": 1.8483795827251015e-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": 9.85611586656887e-06, + "observation_loss": 9.724124538479373e-06, + "chamfer": 7.539155831182143e-06, + "track": 2.184969162044581e-06, + "acceleration": 1.3199147019804514e-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": 1.0227172424492892e-05, + "observation_loss": 1.0167905202251859e-05, + "chamfer": 7.828687557775993e-06, + "track": 2.339217644475866e-06, + "acceleration": 5.926748869455878e-08, + "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": 1.041163795889588e-05, + "observation_loss": 1.0361322893004399e-05, + "chamfer": 7.948030543047935e-06, + "track": 2.413292349956464e-06, + "acceleration": 5.0315428268277174e-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": 1.068787787517067e-05, + "observation_loss": 1.0465732884767931e-05, + "chamfer": 8.004531082406174e-06, + "track": 2.461201574988081e-06, + "acceleration": 2.221451751438508e-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": 1.068768233380979e-05, + "observation_loss": 1.0549259059189353e-05, + "chamfer": 8.026500836422201e-06, + "track": 2.5227579953934764e-06, + "acceleration": 1.384232461987267e-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": 1.066028380591888e-05, + "observation_loss": 1.0573763574939221e-05, + "chamfer": 8.020736459002364e-06, + "track": 2.5530271159368567e-06, + "acceleration": 8.652036598277846e-08, + "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": 1.0713021765695885e-05, + "observation_loss": 1.0454719813424163e-05, + "chamfer": 7.941850526549388e-06, + "track": 2.512868832127424e-06, + "acceleration": 2.583016964763374e-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": 1.0884326002269518e-05, + "observation_loss": 1.0239085895591415e-05, + "chamfer": 7.810364877514075e-06, + "track": 2.428720563329989e-06, + "acceleration": 6.452397087741701e-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": 1.0583495168248191e-05, + "observation_loss": 1.0173040209338069e-05, + "chamfer": 7.760677362966817e-06, + "track": 2.412363301118603e-06, + "acceleration": 4.1045498733183194e-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": 1.042536041495623e-05, + "observation_loss": 1.0111770279763732e-05, + "chamfer": 7.714500497968402e-06, + "track": 2.397269554421655e-06, + "acceleration": 3.1359047625301173e-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": 1.1295712283754256e-05, + "observation_loss": 9.991354090743698e-06, + "chamfer": 7.620596079505049e-06, + "track": 2.370758238612325e-06, + "acceleration": 1.3043584203842329e-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": 1.0776059752970468e-05, + "observation_loss": 1.0053260666609276e-05, + "chamfer": 7.677732355659828e-06, + "track": 2.375528538323124e-06, + "acceleration": 7.227989726743544e-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": 1.0318007298337761e-05, + "observation_loss": 1.0138355719391257e-05, + "chamfer": 7.732389349257573e-06, + "track": 2.4059665975073585e-06, + "acceleration": 1.796519200070179e-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": 1.0434052455821075e-05, + "observation_loss": 1.0166198990191333e-05, + "chamfer": 7.717910193605348e-06, + "track": 2.44828902395966e-06, + "acceleration": 2.6785363615999813e-07, + "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": 1.0483572623343207e-05, + "observation_loss": 1.022809010464698e-05, + "chamfer": 7.734248356427997e-06, + "track": 2.4938417482189834e-06, + "acceleration": 2.5548285975673934e-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": 1.0762207239167765e-05, + "observation_loss": 1.052074003382586e-05, + "chamfer": 7.878433279984165e-06, + "track": 2.6423067538416944e-06, + "acceleration": 2.4146746113729023e-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": 1.1028288099623751e-05, + "observation_loss": 1.0836707588168792e-05, + "chamfer": 8.031433026189916e-06, + "track": 2.805274789352552e-06, + "acceleration": 1.9158009934017173e-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": 1.1347389772708993e-05, + "observation_loss": 1.1195820661669131e-05, + "chamfer": 8.229025297623593e-06, + "track": 2.9667951366718626e-06, + "acceleration": 1.5156902577473375e-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": 1.1517579878272954e-05, + "observation_loss": 1.1387273843865842e-05, + "chamfer": 8.324850568897091e-06, + "track": 3.0624230475950753e-06, + "acceleration": 1.3030567913574487e-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": 1.1842545973195229e-05, + "observation_loss": 1.1596137483138591e-05, + "chamfer": 8.456471732642967e-06, + "track": 3.139665750495624e-06, + "acceleration": 2.464080637309962e-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": 1.210158643516479e-05, + "observation_loss": 1.1923560123250354e-05, + "chamfer": 8.662806067150086e-06, + "track": 3.260754056100268e-06, + "acceleration": 1.7802651086640253e-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": 1.2275306289666332e-05, + "observation_loss": 1.2192323083581869e-05, + "chamfer": 8.818657079245895e-06, + "track": 3.3736660043359734e-06, + "acceleration": 8.298298581621566e-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": 1.2385605259623844e-05, + "observation_loss": 1.2313998013269156e-05, + "chamfer": 8.87761780177243e-06, + "track": 3.4363806662440766e-06, + "acceleration": 7.160762294233791e-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": 1.2461377991712652e-05, + "observation_loss": 1.2391956261126325e-05, + "chamfer": 8.932282980822492e-06, + "track": 3.459673280303832e-06, + "acceleration": 6.94217163754729e-08, + "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": 1.2476971278374549e-05, + "observation_loss": 1.2409582268446684e-05, + "chamfer": 8.91850322659593e-06, + "track": 3.4910785871034022e-06, + "acceleration": 6.738939362094243e-08, + "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": 1.2470793080865405e-05, + "observation_loss": 1.242605230800109e-05, + "chamfer": 8.905275535653345e-06, + "track": 3.520776544974069e-06, + "acceleration": 4.4741224058952866e-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": 1.2543821867438965e-05, + "observation_loss": 1.2405466804921161e-05, + "chamfer": 8.89536204340402e-06, + "track": 3.5101049888908165e-06, + "acceleration": 1.3835541778917104e-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": 1.2521416465460788e-05, + "observation_loss": 1.239002995134797e-05, + "chamfer": 8.886975592758972e-06, + "track": 3.5030545859626727e-06, + "acceleration": 1.31386613588802e-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": 1.2377555322018452e-05, + "observation_loss": 1.2364792382868472e-05, + "chamfer": 8.856409294821788e-06, + "track": 3.5083828606730094e-06, + "acceleration": 1.2763245571534299e-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": 1.239850462297909e-05, + "observation_loss": 1.2336588952166494e-05, + "chamfer": 8.828215868561529e-06, + "track": 3.5083730836049654e-06, + "acceleration": 6.191523027609946e-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": 1.2455972864700016e-05, + "observation_loss": 1.2322009752097074e-05, + "chamfer": 8.811399311525747e-06, + "track": 3.510610667945002e-06, + "acceleration": 1.3396279996413796e-07, + "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": 1.2343427442829125e-05, + "observation_loss": 1.2223006706335582e-05, + "chamfer": 8.754931513976771e-06, + "track": 3.4680747376114596e-06, + "acceleration": 1.2042082175867108e-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": 1.211166636494454e-05, + "observation_loss": 1.2077958672307432e-05, + "chamfer": 8.680022801854648e-06, + "track": 3.3979356430791086e-06, + "acceleration": 3.370749723785593e-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": 9.255113913771614e-06, + "chamfer_mean": 6.393220142323723e-06, + "track_mean": 1.8362087415013661e-06, + "acceleration_mean": 1.025685074105646e-06, + "observation_score": 8.229428895371408e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429599037999651 + }, + "score_arrays_file": "pass_scores/pass_end_0158.npz", + "score_arrays_sha256": "e95f65d461d49fb443c27113ffc2e63d4e99d97b3f04de5fb8e6521de31a3400" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0159.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0159.json new file mode 100644 index 0000000000000000000000000000000000000000..2b486295949439eb3d70440ab449300047a4e1f2 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0159.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15264, + "completed_passes": 159, + "snapshot": "pass_end_0159", + "candidate": true, + "snapshot_arrays_sha256": "cec10b42dde247d5e71029434254369805dfcd64ac2fb0a576ddc226fa7382be", + "score": 8.216119709913983e-06, + "score_result": { + "score": 8.216119709913983e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.949077270386624e-06, + 3.256816853536293e-06, + 3.6068252029508585e-06, + 4.2954975469911005e-06, + 5.0764429033733904e-06, + 5.447701823868556e-06, + 5.417380634753499e-06, + 5.310726919560693e-06, + 5.154452537681209e-06, + 5.141824203747092e-06, + 5.356227120500989e-06, + 5.583632628258783e-06, + 5.81816493649967e-06, + 5.9695644267776515e-06, + 6.014949576638173e-06, + 6.132133876235457e-06, + 5.9872763813473284e-06, + 5.719663022318855e-06, + 5.544299256143859e-06, + 5.472895281855017e-06, + 5.430994406196987e-06, + 5.284125109028537e-06, + 5.06629066876485e-06, + 4.987162810721202e-06, + 5.111309292260557e-06, + 5.394822437665425e-06, + 5.683891686203424e-06, + 5.862800662725931e-06, + 5.900828455196461e-06, + 5.850000434293179e-06, + 5.776556918135611e-06, + 5.8588016145222355e-06, + 6.046257567504654e-06, + 6.293772457865998e-06, + 6.499830305983778e-06, + 6.798490630899323e-06, + 7.077286682033446e-06, + 7.1384165494237095e-06, + 7.005852239672095e-06, + 7.017339157755487e-06, + 7.320415988942841e-06, + 7.661776180611923e-06, + 7.797976650181226e-06, + 7.924092642497271e-06, + 7.977677341841627e-06, + 7.987535354914144e-06, + 8.009830708033405e-06, + 8.379405699088238e-06, + 9.013772796606645e-06, + 9.49092827795539e-06, + 9.352006600238383e-06, + 9.042691999638919e-06, + 8.783939847489819e-06, + 8.576330401410814e-06, + 8.53146229928825e-06, + 8.58393559610704e-06, + 8.627885108580813e-06, + 8.65824222273659e-06, + 8.715657713764813e-06, + 8.822540621622466e-06, + 8.97047357284464e-06, + 9.10173821466742e-06, + 9.367849088448565e-06, + 9.709537152957637e-06, + 1.015552697936073e-05, + 1.0351999662816525e-05, + 1.04601767816348e-05, + 1.0547752026468515e-05, + 1.0575572559901047e-05, + 1.0457823009346612e-05, + 1.0243141332466621e-05, + 1.0179219316341914e-05, + 1.0120896149601322e-05, + 9.99437179416418e-06, + 1.0058786756417248e-05, + 1.0143457075173501e-05, + 1.0168848348257598e-05, + 1.022919241222553e-05, + 1.052302832249552e-05, + 1.0837564332177863e-05, + 1.119678472605301e-05, + 1.1389224710001145e-05, + 1.1595683645282406e-05, + 1.1921240911760833e-05, + 1.219112891703844e-05, + 1.2312551007198635e-05, + 1.2390309166221414e-05, + 1.2408125257934444e-05, + 1.2425093700585421e-05, + 1.2403831533447374e-05, + 1.2388092727633193e-05, + 1.2363524547254201e-05, + 1.23374638860696e-05, + 1.2324199815338943e-05, + 1.2224420970596839e-05, + 1.2080375199730042e-05 + ] + ], + "episode_mean_losses": [ + 8.216119709913983e-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": 2.949077270386624e-06, + "observation_loss": 2.949077270386624e-06, + "chamfer": 2.5014171569637256e-06, + "track": 4.476600281577703e-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": 4.28799721703399e-05, + "observation_loss": 3.256816853536293e-06, + "chamfer": 2.7551718631002586e-06, + "track": 5.016449904360343e-07, + "acceleration": 3.9623155316803604e-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": 2.5665669454610907e-05, + "observation_loss": 3.6068252029508585e-06, + "chamfer": 3.047467771466472e-06, + "track": 5.593574883278052e-07, + "acceleration": 2.2058844479033723e-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": 1.2070559023413807e-05, + "observation_loss": 4.2954975469911005e-06, + "chamfer": 3.597971272029099e-06, + "track": 6.975264454922581e-07, + "acceleration": 7.775061931170058e-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": 9.541477083985228e-06, + "observation_loss": 5.0764429033733904e-06, + "chamfer": 4.197769612801494e-06, + "track": 8.786733474153152e-07, + "acceleration": 4.465034180611838e-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": 7.049351097521139e-06, + "observation_loss": 5.447701823868556e-06, + "chamfer": 4.470836756809149e-06, + "track": 9.76865067059407e-07, + "acceleration": 1.6016492736525834e-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": 6.468099400080973e-06, + "observation_loss": 5.417380634753499e-06, + "chamfer": 4.426487976161297e-06, + "track": 9.90892544905364e-07, + "acceleration": 1.050718765327474e-06, + "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": 5.939697985013481e-06, + "observation_loss": 5.310726919560693e-06, + "chamfer": 4.338895905675599e-06, + "track": 9.718310138850939e-07, + "acceleration": 6.289709517659503e-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": 6.0730340010195505e-06, + "observation_loss": 5.154452537681209e-06, + "chamfer": 4.223008545523044e-06, + "track": 9.314439353147463e-07, + "acceleration": 9.185815201817604e-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": 5.804049578728154e-06, + "observation_loss": 5.141824203747092e-06, + "chamfer": 4.226683358865557e-06, + "track": 9.151409585683723e-07, + "acceleration": 6.622252044508059e-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": 5.715425231755944e-06, + "observation_loss": 5.356227120500989e-06, + "chamfer": 4.41658858107985e-06, + "track": 9.396387099513959e-07, + "acceleration": 3.591981112549547e-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": 6.001700967317447e-06, + "observation_loss": 5.583632628258783e-06, + "chamfer": 4.6062505134614184e-06, + "track": 9.773820011105272e-07, + "acceleration": 4.1806839590208256e-07, + "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": 6.068013135518413e-06, + "observation_loss": 5.81816493649967e-06, + "chamfer": 4.809433448826894e-06, + "track": 1.0087313739859383e-06, + "acceleration": 2.4984808533190517e-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": 6.295759249042021e-06, + "observation_loss": 5.9695644267776515e-06, + "chamfer": 4.939508471579757e-06, + "track": 1.030055955197895e-06, + "acceleration": 3.2619479384266015e-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": 6.533398845931515e-06, + "observation_loss": 6.014949576638173e-06, + "chamfer": 4.983413418813143e-06, + "track": 1.0315361578250304e-06, + "acceleration": 5.184490419196663e-07, + "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": 6.456743903981987e-06, + "observation_loss": 6.132133876235457e-06, + "chamfer": 5.081647941551637e-06, + "track": 1.050486048370658e-06, + "acceleration": 3.2461022669849626e-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": 6.2012404669076204e-06, + "observation_loss": 5.9872763813473284e-06, + "chamfer": 4.962763341609389e-06, + "track": 1.0245131534247776e-06, + "acceleration": 2.1396428451225802e-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": 6.0733304962923285e-06, + "observation_loss": 5.719663022318855e-06, + "chamfer": 4.748654191644164e-06, + "track": 9.710090580483666e-07, + "acceleration": 3.5366741713005467e-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": 5.734269052481977e-06, + "observation_loss": 5.544299256143859e-06, + "chamfer": 4.610948963090777e-06, + "track": 9.333502362096624e-07, + "acceleration": 1.899697821272639e-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": 5.619135663437191e-06, + "observation_loss": 5.472895281855017e-06, + "chamfer": 4.553881353785982e-06, + "track": 9.190140417558723e-07, + "acceleration": 1.4624019684106315e-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": 5.663214778905967e-06, + "observation_loss": 5.430994406196987e-06, + "chamfer": 4.520590209722286e-06, + "track": 9.104041964747012e-07, + "acceleration": 2.3222024481128756e-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": 5.568748747464269e-06, + "observation_loss": 5.284125109028537e-06, + "chamfer": 4.404751507536275e-06, + "track": 8.793734878054238e-07, + "acceleration": 2.846237521225703e-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": 5.249774403637275e-06, + "observation_loss": 5.06629066876485e-06, + "chamfer": 4.2311280594731215e-06, + "track": 8.351627229785663e-07, + "acceleration": 1.8348389119182684e-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": 5.129636519995984e-06, + "observation_loss": 4.987162810721202e-06, + "chamfer": 4.160564913036069e-06, + "track": 8.265977271548763e-07, + "acceleration": 1.4247376611820073e-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": 5.261540991341462e-06, + "observation_loss": 5.111309292260557e-06, + "chamfer": 4.245259788149269e-06, + "track": 8.660495041112881e-07, + "acceleration": 1.5023167065919552e-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": 5.718773991247872e-06, + "observation_loss": 5.394822437665425e-06, + "chamfer": 4.453999736142578e-06, + "track": 9.408224741491722e-07, + "acceleration": 3.239516104258655e-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": 6.0557031247299165e-06, + "observation_loss": 5.683891686203424e-06, + "chamfer": 4.665037977247266e-06, + "track": 1.0188538226429955e-06, + "acceleration": 3.7181160905674915e-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": 6.133137048891513e-06, + "observation_loss": 5.862800662725931e-06, + "chamfer": 4.801855084224371e-06, + "track": 1.060945464814722e-06, + "acceleration": 2.703362440570345e-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": 6.43109069642378e-06, + "observation_loss": 5.900828455196461e-06, + "chamfer": 4.840167548536556e-06, + "track": 1.0606610203467426e-06, + "acceleration": 5.302624686009949e-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": 6.0597203628276475e-06, + "observation_loss": 5.850000434293179e-06, + "chamfer": 4.804829131899169e-06, + "track": 1.0451714160808478e-06, + "acceleration": 2.0972011327557993e-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": 5.86335909247282e-06, + "observation_loss": 5.776556918135611e-06, + "chamfer": 4.751072083308827e-06, + "track": 1.025484948513622e-06, + "acceleration": 8.680204643951583e-08, + "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": 5.935028184467228e-06, + "observation_loss": 5.8588016145222355e-06, + "chamfer": 4.814418389287312e-06, + "track": 1.0443833389217616e-06, + "acceleration": 7.622678310781339e-08, + "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": 6.1461391851480585e-06, + "observation_loss": 6.046257567504654e-06, + "chamfer": 4.96266147820279e-06, + "track": 1.0835962029887014e-06, + "acceleration": 9.988177396280662e-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": 6.412671154976124e-06, + "observation_loss": 6.293772457865998e-06, + "chamfer": 5.145298473507864e-06, + "track": 1.148473870671296e-06, + "acceleration": 1.188986118449975e-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": 6.6025531850755215e-06, + "observation_loss": 6.499830305983778e-06, + "chamfer": 5.306004368321737e-06, + "track": 1.1938259376620408e-06, + "acceleration": 1.0272297856772639e-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": 6.9704456109320745e-06, + "observation_loss": 6.798490630899323e-06, + "chamfer": 5.530285761778941e-06, + "track": 1.2682049828072195e-06, + "acceleration": 1.7195515056300792e-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": 7.140409707062645e-06, + "observation_loss": 7.077286682033446e-06, + "chamfer": 5.737633273383835e-06, + "track": 1.3396536360232858e-06, + "acceleration": 6.31228900260794e-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": 7.497499154851539e-06, + "observation_loss": 7.1384165494237095e-06, + "chamfer": 5.795742708869511e-06, + "track": 1.3426737268673605e-06, + "acceleration": 3.5908271911466727e-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": 7.164005637605442e-06, + "observation_loss": 7.005852239672095e-06, + "chamfer": 5.714720828109421e-06, + "track": 1.2911314115626737e-06, + "acceleration": 1.5815349740933016e-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": 7.2028778959065676e-06, + "observation_loss": 7.017339157755487e-06, + "chamfer": 5.72719636693364e-06, + "track": 1.2901425634481711e-06, + "acceleration": 1.8553870972937148e-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": 7.5838042903342284e-06, + "observation_loss": 7.320415988942841e-06, + "chamfer": 5.951038019702537e-06, + "track": 1.369377969240304e-06, + "acceleration": 2.6338847192164394e-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": 7.85046722739935e-06, + "observation_loss": 7.661776180611923e-06, + "chamfer": 6.190795375005109e-06, + "track": 1.470981260354165e-06, + "acceleration": 1.8869121731768246e-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": 7.887657375249546e-06, + "observation_loss": 7.797976650181226e-06, + "chamfer": 6.269875939324265e-06, + "track": 1.528100369796448e-06, + "acceleration": 8.96810590234054e-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": 7.970046681293752e-06, + "observation_loss": 7.924092642497271e-06, + "chamfer": 6.351818683469901e-06, + "track": 1.5722741864010459e-06, + "acceleration": 4.5953687077826544e-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": 8.052691555349156e-06, + "observation_loss": 7.977677341841627e-06, + "chamfer": 6.383948402799433e-06, + "track": 1.5937290527290315e-06, + "acceleration": 7.501442667035008e-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": 8.090390110737644e-06, + "observation_loss": 7.987535354914144e-06, + "chamfer": 6.391073384293122e-06, + "track": 1.5964618569341837e-06, + "acceleration": 1.0285445739555144e-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": 8.217140020860825e-06, + "observation_loss": 8.009830708033405e-06, + "chamfer": 6.404226496670162e-06, + "track": 1.605603756615892e-06, + "acceleration": 2.0730955441194965e-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": 8.517808055330534e-06, + "observation_loss": 8.379405699088238e-06, + "chamfer": 6.659418431809172e-06, + "track": 1.7199872672790661e-06, + "acceleration": 1.3840234203144064e-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": 9.095875611819793e-06, + "observation_loss": 9.013772796606645e-06, + "chamfer": 7.084207936713938e-06, + "track": 1.9295644051453564e-06, + "acceleration": 8.210293600541263e-08, + "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": 9.761452929524239e-06, + "observation_loss": 9.49092827795539e-06, + "chamfer": 7.409197223751107e-06, + "track": 2.0817305994569324e-06, + "acceleration": 2.7052473683397693e-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": 9.509676601737738e-06, + "observation_loss": 9.352006600238383e-06, + "chamfer": 7.32003081793664e-06, + "track": 2.0319757823017426e-06, + "acceleration": 1.5767018624046614e-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": 9.239433893526439e-06, + "observation_loss": 9.042691999638919e-06, + "chamfer": 7.129039659048431e-06, + "track": 1.913652340590488e-06, + "acceleration": 1.9674159545957082e-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": 8.832373168843333e-06, + "observation_loss": 8.783939847489819e-06, + "chamfer": 6.957994628464803e-06, + "track": 1.8259451053381781e-06, + "acceleration": 4.843357714889862e-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": 8.630394404463004e-06, + "observation_loss": 8.576330401410814e-06, + "chamfer": 6.812118044763338e-06, + "track": 1.764212584021152e-06, + "acceleration": 5.4063622911826315e-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": 8.592349331593141e-06, + "observation_loss": 8.53146229928825e-06, + "chamfer": 6.773335371690337e-06, + "track": 1.7581271549715893e-06, + "acceleration": 6.088719572971968e-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": 8.664565029903315e-06, + "observation_loss": 8.58393559610704e-06, + "chamfer": 6.805020802858053e-06, + "track": 1.7789145658753114e-06, + "acceleration": 8.062918510631789e-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": 8.71930842549773e-06, + "observation_loss": 8.627885108580813e-06, + "chamfer": 6.834243777120719e-06, + "track": 1.793641786207445e-06, + "acceleration": 9.142375034798533e-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": 8.841903763823211e-06, + "observation_loss": 8.65824222273659e-06, + "chamfer": 6.836457941972185e-06, + "track": 1.8217838260170538e-06, + "acceleration": 1.8366122844781785e-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": 9.057647730514873e-06, + "observation_loss": 8.715657713764813e-06, + "chamfer": 6.8759318310185336e-06, + "track": 1.8397257690594415e-06, + "acceleration": 3.419901588586072e-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": 9.555171345709823e-06, + "observation_loss": 8.822540621622466e-06, + "chamfer": 6.9316379267547745e-06, + "track": 1.890902694867691e-06, + "acceleration": 7.326304967136821e-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": 9.999935173254926e-06, + "observation_loss": 8.97047357284464e-06, + "chamfer": 7.036734587018145e-06, + "track": 1.9337392132001696e-06, + "acceleration": 1.0294616004102863e-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": 9.635658898332622e-06, + "observation_loss": 9.10173821466742e-06, + "chamfer": 7.129373898351332e-06, + "track": 1.9723640889424132e-06, + "acceleration": 5.339204562915256e-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": 9.553365089232102e-06, + "observation_loss": 9.367849088448565e-06, + "chamfer": 7.313218702620361e-06, + "track": 2.0546303858282045e-06, + "acceleration": 1.8551641289832332e-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": 9.84223424893571e-06, + "observation_loss": 9.709537152957637e-06, + "chamfer": 7.529089998570271e-06, + "track": 2.180447154387366e-06, + "acceleration": 1.3269726650833036e-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": 1.021518801280763e-05, + "observation_loss": 1.015552697936073e-05, + "chamfer": 7.820261089364067e-06, + "track": 2.3352658899966627e-06, + "acceleration": 5.966148108882408e-08, + "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": 1.0402824955235701e-05, + "observation_loss": 1.0351999662816525e-05, + "chamfer": 7.94170773588121e-06, + "track": 2.410292381682666e-06, + "acceleration": 5.082516452148411e-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": 1.0683410437195562e-05, + "observation_loss": 1.04601767816348e-05, + "chamfer": 8.000648449524306e-06, + "track": 2.459528104736819e-06, + "acceleration": 2.2323349924135982e-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": 1.0687158464861568e-05, + "observation_loss": 1.0547752026468515e-05, + "chamfer": 8.025480383366812e-06, + "track": 2.522271415728028e-06, + "acceleration": 1.3940650944732624e-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": 1.0662809472705703e-05, + "observation_loss": 1.0575572559901047e-05, + "chamfer": 8.022127985896077e-06, + "track": 2.553444801378646e-06, + "acceleration": 8.723671385268972e-08, + "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": 1.071676433639368e-05, + "observation_loss": 1.0457823009346612e-05, + "chamfer": 7.943825039546937e-06, + "track": 2.513998424547026e-06, + "acceleration": 2.5894172495100065e-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": 1.088932367565576e-05, + "observation_loss": 1.0243141332466621e-05, + "chamfer": 7.812968760845251e-06, + "track": 2.430172344247694e-06, + "acceleration": 6.461822863457201e-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": 1.0589426892693155e-05, + "observation_loss": 1.0179219316341914e-05, + "chamfer": 7.764889232930727e-06, + "track": 2.414330538158538e-06, + "acceleration": 4.102072068690177e-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": 1.0470993402122986e-05, + "observation_loss": 1.0120896149601322e-05, + "chamfer": 7.720915164100006e-06, + "track": 2.399981212874991e-06, + "acceleration": 3.500973377867922e-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": 1.1494592399685644e-05, + "observation_loss": 9.99437179416418e-06, + "chamfer": 7.622110388183501e-06, + "track": 2.372261860728031e-06, + "acceleration": 1.5002203781477874e-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": 1.0900875167862978e-05, + "observation_loss": 1.0058786756417248e-05, + "chamfer": 7.681245733692776e-06, + "track": 2.3775412500981474e-06, + "acceleration": 8.420884114457294e-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": 1.0351534001529217e-05, + "observation_loss": 1.0143457075173501e-05, + "chamfer": 7.735682629572693e-06, + "track": 2.4077742182271322e-06, + "acceleration": 2.08077068464263e-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": 1.0452501555846538e-05, + "observation_loss": 1.0168848348257598e-05, + "chamfer": 7.71947088651359e-06, + "track": 2.449377689117682e-06, + "acceleration": 2.8365312232381257e-07, + "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": 1.0487186955288053e-05, + "observation_loss": 1.022919241222553e-05, + "chamfer": 7.735126018815208e-06, + "track": 2.494066166036646e-06, + "acceleration": 2.57994543062523e-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": 1.0766392733785324e-05, + "observation_loss": 1.052302832249552e-05, + "chamfer": 7.880422344896942e-06, + "track": 2.6426059775985777e-06, + "acceleration": 2.433647239286074e-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": 1.102909845940303e-05, + "observation_loss": 1.0837564332177863e-05, + "chamfer": 8.03275361249689e-06, + "track": 2.8048102649336215e-06, + "acceleration": 1.9153404196003976e-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": 1.1352462934155483e-05, + "observation_loss": 1.119678472605301e-05, + "chamfer": 8.230188541347161e-06, + "track": 2.9665961847058497e-06, + "acceleration": 1.5567860600640415e-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": 1.1523944522195961e-05, + "observation_loss": 1.1389224710001145e-05, + "chamfer": 8.327028808707837e-06, + "track": 3.062196128666983e-06, + "acceleration": 1.347194711343036e-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": 1.1839143553515896e-05, + "observation_loss": 1.1595683645282406e-05, + "chamfer": 8.457190233457368e-06, + "track": 3.138493639198714e-06, + "acceleration": 2.434601356071653e-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": 1.2095080819563009e-05, + "observation_loss": 1.1921240911760833e-05, + "chamfer": 8.662145773996599e-06, + "track": 3.259095137764234e-06, + "acceleration": 1.7383995043473988e-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": 1.2273410902707838e-05, + "observation_loss": 1.219112891703844e-05, + "chamfer": 8.819200957077555e-06, + "track": 3.3719279599608853e-06, + "acceleration": 8.228184356084967e-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": 1.2382831300783437e-05, + "observation_loss": 1.2312551007198635e-05, + "chamfer": 8.877809705154505e-06, + "track": 3.434741302044131e-06, + "acceleration": 7.028054938018613e-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": 1.2459455319913104e-05, + "observation_loss": 1.2390309166221414e-05, + "chamfer": 8.932254786486737e-06, + "track": 3.458054152361001e-06, + "acceleration": 6.914628158938285e-08, + "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": 1.2475765288399998e-05, + "observation_loss": 1.2408125257934444e-05, + "chamfer": 8.91885156306671e-06, + "track": 3.4892741496150848e-06, + "acceleration": 6.763969651046864e-08, + "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": 1.2469274224713445e-05, + "observation_loss": 1.2425093700585421e-05, + "chamfer": 8.906249604478944e-06, + "track": 3.5188438687328016e-06, + "acceleration": 4.418012622409151e-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": 1.2543519005703274e-05, + "observation_loss": 1.2403831533447374e-05, + "chamfer": 8.895660357666202e-06, + "track": 3.5081711757811718e-06, + "acceleration": 1.3968779910555895e-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": 1.2520767086243723e-05, + "observation_loss": 1.2388092727633193e-05, + "chamfer": 8.887151125236414e-06, + "track": 3.5009420571441296e-06, + "acceleration": 1.3267414544770872e-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": 1.2376340237096883e-05, + "observation_loss": 1.2363524547254201e-05, + "chamfer": 8.856811291479971e-06, + "track": 3.5067132557742298e-06, + "acceleration": 1.281569428357443e-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": 1.2401532330841292e-05, + "observation_loss": 1.23374638860696e-05, + "chamfer": 8.83007851371076e-06, + "track": 3.5073855997325154e-06, + "acceleration": 6.406799712976863e-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": 1.2461168807931244e-05, + "observation_loss": 1.2324199815338943e-05, + "chamfer": 8.813974091026466e-06, + "track": 3.510225724312477e-06, + "acceleration": 1.3696921996597666e-07, + "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": 1.2346702533250209e-05, + "observation_loss": 1.2224420970596839e-05, + "chamfer": 8.757035175221972e-06, + "track": 3.467385568001191e-06, + "acceleration": 1.2228161949678906e-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": 1.2116096513636876e-05, + "observation_loss": 1.2080375199730042e-05, + "chamfer": 8.68293773237383e-06, + "track": 3.397437694729888e-06, + "acceleration": 3.572087337033736e-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": 9.244638133528346e-06, + "chamfer_mean": 6.383396351357836e-06, + "track_mean": 1.8327233783921315e-06, + "acceleration_mean": 1.0285184409801011e-06, + "observation_score": 8.216119709913983e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4306328860002395 + }, + "score_arrays_file": "pass_scores/pass_end_0159.npz", + "score_arrays_sha256": "db8628e3548e78e33a8620a13140b04ed38d460277e670efbbee22d3ac88fc62" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0160.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0160.json new file mode 100644 index 0000000000000000000000000000000000000000..09996562be18513cefc38bce4a3e303bf217588a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0160.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15360, + "completed_passes": 160, + "snapshot": "pass_end_0160", + "candidate": true, + "snapshot_arrays_sha256": "6d5869dbf64401facaec6080a532f6a2582667bad6d64b999795680dc9bdfec4", + "score": 8.204782233178776e-06, + "score_result": { + "score": 8.204782233178776e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.94912138087966e-06, + 3.254464218116482e-06, + 3.6020414881932084e-06, + 4.2823721742024645e-06, + 5.0581420509843156e-06, + 5.426168172562029e-06, + 5.392794264480472e-06, + 5.286563009576639e-06, + 5.1325168897164986e-06, + 5.120495188748464e-06, + 5.338526989362435e-06, + 5.569910626945784e-06, + 5.80439609620953e-06, + 5.9545645854086615e-06, + 5.996670552121941e-06, + 6.11144150752807e-06, + 5.967314336885465e-06, + 5.701222107745707e-06, + 5.5268606047320645e-06, + 5.453920493891928e-06, + 5.4094771257950924e-06, + 5.262615559331607e-06, + 5.047173999628285e-06, + 4.9691002459439915e-06, + 5.091412731417222e-06, + 5.370732196752215e-06, + 5.659582257067086e-06, + 5.841243364557158e-06, + 5.881664492335403e-06, + 5.834466719534248e-06, + 5.761727152275853e-06, + 5.845966370543465e-06, + 6.0358242990332656e-06, + 6.282020422077039e-06, + 6.485959147539688e-06, + 6.781604952266207e-06, + 7.059445124468766e-06, + 7.120250302250497e-06, + 6.98527401254978e-06, + 6.992165253905114e-06, + 7.29246767150471e-06, + 7.633162567799445e-06, + 7.769285730319098e-06, + 7.894998816482257e-06, + 7.949465725687332e-06, + 7.959124559420161e-06, + 7.982383976923302e-06, + 8.353374141734093e-06, + 8.98839789442718e-06, + 9.465768016525544e-06, + 9.328210580861196e-06, + 9.02002375369193e-06, + 8.76148169481894e-06, + 8.554809028282762e-06, + 8.510867701261304e-06, + 8.564039490011055e-06, + 8.608889402239583e-06, + 8.640306987217627e-06, + 8.698372766957618e-06, + 8.806155165075324e-06, + 8.95509947440587e-06, + 9.088455954042729e-06, + 9.356721420772374e-06, + 9.70215205597924e-06, + 1.0151180504180957e-05, + 1.0350934644520748e-05, + 1.0463212674949318e-05, + 1.0555322660366073e-05, + 1.0586827556835487e-05, + 1.046998477249872e-05, + 1.0255928827973548e-05, + 1.0193176422035322e-05, + 1.0138764992007054e-05, + 1.0003207535191905e-05, + 1.0070602911582682e-05, + 1.0154018127650488e-05, + 1.0175667739531491e-05, + 1.0232546628685668e-05, + 1.0525857760512736e-05, + 1.0838206435437314e-05, + 1.119759508583229e-05, + 1.1390767213015351e-05, + 1.1594978786888532e-05, + 1.191875162476208e-05, + 1.2189934750495013e-05, + 1.2311352293181699e-05, + 1.2388807590468787e-05, + 1.2407303074724041e-05, + 1.2425299246388022e-05, + 1.2403345863276627e-05, + 1.2388522918627132e-05, + 1.236386742675677e-05, + 1.2339441127551254e-05, + 1.2327044714766089e-05, + 1.2229610547365155e-05, + 1.2085804883099627e-05 + ] + ], + "episode_mean_losses": [ + 8.204782233178776e-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": 2.94912138087966e-06, + "observation_loss": 2.94912138087966e-06, + "chamfer": 2.5014621769514633e-06, + "track": 4.476592891933251e-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": 4.2824798583751544e-05, + "observation_loss": 3.254464218116482e-06, + "chamfer": 2.753180069703376e-06, + "track": 5.01284091569687e-07, + "acceleration": 3.957033550250344e-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": 2.5617535357014276e-05, + "observation_loss": 3.6020414881932084e-06, + "chamfer": 3.0435471671808045e-06, + "track": 5.58494264168985e-07, + "acceleration": 2.201549432356842e-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": 1.2046323718095664e-05, + "observation_loss": 4.2823721742024645e-06, + "chamfer": 3.5877112622983987e-06, + "track": 6.946610255909036e-07, + "acceleration": 7.7639515438932e-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": 9.531296200293582e-06, + "observation_loss": 5.0581420509843156e-06, + "chamfer": 4.184289537079167e-06, + "track": 8.738526844354055e-07, + "acceleration": 4.473154149309266e-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": 7.024435944913421e-06, + "observation_loss": 5.426168172562029e-06, + "chamfer": 4.4558787521964405e-06, + "track": 9.702891929919133e-07, + "acceleration": 1.5982676586645539e-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": 6.438825039367657e-06, + "observation_loss": 5.392794264480472e-06, + "chamfer": 4.409738721733447e-06, + "track": 9.83055315373349e-07, + "acceleration": 1.0460306612003478e-06, + "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": 5.916178906772984e-06, + "observation_loss": 5.286563009576639e-06, + "chamfer": 4.322566837799968e-06, + "track": 9.63996171776671e-07, + "acceleration": 6.296160677266016e-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": 6.0458178268163465e-06, + "observation_loss": 5.1325168897164986e-06, + "chamfer": 4.20827882408048e-06, + "track": 9.242381224794372e-07, + "acceleration": 9.133008802564291e-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": 5.7757833928917535e-06, + "observation_loss": 5.120495188748464e-06, + "chamfer": 4.2117517295992e-06, + "track": 9.087432886190072e-07, + "acceleration": 6.552883178301272e-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": 5.693476850865409e-06, + "observation_loss": 5.338526989362435e-06, + "chamfer": 4.404419541970128e-06, + "track": 9.341076179225638e-07, + "acceleration": 3.549497193944262e-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": 5.977065484330524e-06, + "observation_loss": 5.569910626945784e-06, + "chamfer": 4.597194674715865e-06, + "track": 9.72715952229919e-07, + "acceleration": 4.071548858064489e-07, + "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": 6.043636858521495e-06, + "observation_loss": 5.80439609620953e-06, + "chamfer": 4.800244369107531e-06, + "track": 1.0041518407888361e-06, + "acceleration": 2.3924079073367466e-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": 6.281260539253708e-06, + "observation_loss": 5.9545645854086615e-06, + "chamfer": 4.929067472403403e-06, + "track": 1.0254973403789336e-06, + "acceleration": 3.2669592542333703e-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": 6.500466952275019e-06, + "observation_loss": 5.996670552121941e-06, + "chamfer": 4.970037934981519e-06, + "track": 1.0266326171404216e-06, + "acceleration": 5.037961727794027e-07, + "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": 6.423188551707426e-06, + "observation_loss": 6.11144150752807e-06, + "chamfer": 5.066119229013566e-06, + "track": 1.045322051140829e-06, + "acceleration": 3.1174715786619345e-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": 6.182816832733806e-06, + "observation_loss": 5.967314336885465e-06, + "chamfer": 4.947680736222537e-06, + "track": 1.0196337143497658e-06, + "acceleration": 2.1550236795064848e-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": 6.056030997569906e-06, + "observation_loss": 5.701222107745707e-06, + "chamfer": 4.734481080959085e-06, + "track": 9.66741254160297e-07, + "acceleration": 3.548090035110363e-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": 5.7180104704457335e-06, + "observation_loss": 5.5268606047320645e-06, + "chamfer": 4.597224233293673e-06, + "track": 9.296363714383915e-07, + "acceleration": 1.911499794005067e-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": 5.6014355322986376e-06, + "observation_loss": 5.453920493891928e-06, + "chamfer": 4.538694156508427e-06, + "track": 9.15226451070339e-07, + "acceleration": 1.4751482524388848e-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": 5.642756150336936e-06, + "observation_loss": 5.4094771257950924e-06, + "chamfer": 4.503346190176671e-06, + "track": 9.061308787750022e-07, + "acceleration": 2.3327891085500596e-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": 5.547462933463976e-06, + "observation_loss": 5.262615559331607e-06, + "chamfer": 4.387354238133412e-06, + "track": 8.752615485718707e-07, + "acceleration": 2.848475446626253e-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": 5.232288458500989e-06, + "observation_loss": 5.047173999628285e-06, + "chamfer": 4.215574790578103e-06, + "track": 8.3159932273702e-07, + "acceleration": 1.8511464361381513e-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": 5.113197403261438e-06, + "observation_loss": 4.9691002459439915e-06, + "chamfer": 4.145887487538857e-06, + "track": 8.232125878748775e-07, + "acceleration": 1.4409735626941256e-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": 5.243273790256353e-06, + "observation_loss": 5.091412731417222e-06, + "chamfer": 4.2292658690712415e-06, + "track": 8.621470328762371e-07, + "acceleration": 1.5186114410425944e-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": 5.695218078471953e-06, + "observation_loss": 5.370732196752215e-06, + "chamfer": 4.434831225808011e-06, + "track": 9.359009141007846e-07, + "acceleration": 3.2448579645460995e-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": 6.033530098648043e-06, + "observation_loss": 5.659582257067086e-06, + "chamfer": 4.645717126550153e-06, + "track": 1.013865244203771e-06, + "acceleration": 3.7394801211121376e-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": 6.11322138865944e-06, + "observation_loss": 5.841243364557158e-06, + "chamfer": 4.7849234761088155e-06, + "track": 1.0563201158220181e-06, + "acceleration": 2.7197782515031577e-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": 6.416505129891448e-06, + "observation_loss": 5.881664492335403e-06, + "chamfer": 4.824978987016948e-06, + "track": 1.0566856190052931e-06, + "acceleration": 5.348405807126255e-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": 6.0476404541986994e-06, + "observation_loss": 5.834466719534248e-06, + "chamfer": 4.792471372638829e-06, + "track": 1.0419955742690945e-06, + "acceleration": 2.1317356413419475e-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": 5.85213501835824e-06, + "observation_loss": 5.761727152275853e-06, + "chamfer": 4.739101768791443e-06, + "track": 1.0226254971712478e-06, + "acceleration": 9.040790160952383e-08, + "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": 5.9291987781762145e-06, + "observation_loss": 5.845966370543465e-06, + "chamfer": 4.8039887587947305e-06, + "track": 1.0419776117487345e-06, + "acceleration": 8.323235078933067e-08, + "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": 6.138165190350264e-06, + "observation_loss": 6.0358242990332656e-06, + "chamfer": 4.954114046995528e-06, + "track": 1.081710479411413e-06, + "acceleration": 1.0234087000071668e-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": 6.40081907476997e-06, + "observation_loss": 6.282020422077039e-06, + "chamfer": 5.135798801347846e-06, + "track": 1.1462217344160308e-06, + "acceleration": 1.1879885164489679e-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": 6.589465101569658e-06, + "observation_loss": 6.485959147539688e-06, + "chamfer": 5.294848961057141e-06, + "track": 1.1911101864825469e-06, + "acceleration": 1.0350596824082459e-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": 6.953693628020119e-06, + "observation_loss": 6.781604952266207e-06, + "chamfer": 5.516641977010295e-06, + "track": 1.2649628615690744e-06, + "acceleration": 1.720887041756214e-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": 7.122797342162812e-06, + "observation_loss": 7.059445124468766e-06, + "chamfer": 5.723394679080229e-06, + "track": 1.3360502180148615e-06, + "acceleration": 6.335216085062711e-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": 7.478251518477919e-06, + "observation_loss": 7.120250302250497e-06, + "chamfer": 5.781354957434814e-06, + "track": 1.3388951174420072e-06, + "acceleration": 3.5800141517938755e-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": 7.143427865230478e-06, + "observation_loss": 6.98527401254978e-06, + "chamfer": 5.6984044931596145e-06, + "track": 1.286869405703328e-06, + "acceleration": 1.5815402321095462e-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": 7.178314717748435e-06, + "observation_loss": 6.992165253905114e-06, + "chamfer": 5.707325726689305e-06, + "track": 1.284839754589484e-06, + "acceleration": 1.861494496324667e-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": 7.556604941783007e-06, + "observation_loss": 7.29246767150471e-06, + "chamfer": 5.929502094659256e-06, + "track": 1.362965576845454e-06, + "acceleration": 2.641371281697502e-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": 7.822212864994071e-06, + "observation_loss": 7.633162567799445e-06, + "chamfer": 6.168739673739765e-06, + "track": 1.4644231214333558e-06, + "acceleration": 1.890502261403526e-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": 7.858188837417401e-06, + "observation_loss": 7.769285730319098e-06, + "chamfer": 6.247805686143693e-06, + "track": 1.5214802715490805e-06, + "acceleration": 8.890273761608114e-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": 7.941347575979307e-06, + "observation_loss": 7.894998816482257e-06, + "chamfer": 6.329627467493992e-06, + "track": 1.5653711216145894e-06, + "acceleration": 4.634884120946481e-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": 8.024541784834582e-06, + "observation_loss": 7.949465725687332e-06, + "chamfer": 6.3625343500461895e-06, + "track": 1.5869318303884938e-06, + "acceleration": 7.507628652092535e-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": 8.062562301347498e-06, + "observation_loss": 7.959124559420161e-06, + "chamfer": 6.36938830211875e-06, + "track": 1.5897365983619238e-06, + "acceleration": 1.034379266684482e-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": 8.190269909391645e-06, + "observation_loss": 7.982383976923302e-06, + "chamfer": 6.383227628248278e-06, + "track": 1.5991560076145106e-06, + "acceleration": 2.0788569088381337e-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": 8.491952939948533e-06, + "observation_loss": 8.353374141734093e-06, + "chamfer": 6.639781986450544e-06, + "track": 1.7135921552835498e-06, + "acceleration": 1.385790824315336e-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": 9.070333362615202e-06, + "observation_loss": 8.98839789442718e-06, + "chamfer": 7.065481895551784e-06, + "track": 1.922915771501721e-06, + "acceleration": 8.193508449494402e-08, + "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": 9.736208085087128e-06, + "observation_loss": 9.465768016525544e-06, + "chamfer": 7.390788596239872e-06, + "track": 2.074979875033023e-06, + "acceleration": 2.704402106701309e-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": 9.486214366916101e-06, + "observation_loss": 9.328210580861196e-06, + "chamfer": 7.3025867095566355e-06, + "track": 2.025624098678236e-06, + "acceleration": 1.5800355868123006e-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": 9.21747323445743e-06, + "observation_loss": 9.02002375369193e-06, + "chamfer": 7.112304047041107e-06, + "track": 1.907719479277148e-06, + "acceleration": 1.974496939283199e-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": 8.810286999505479e-06, + "observation_loss": 8.76148169481894e-06, + "chamfer": 6.941335868759779e-06, + "track": 1.8201460534328362e-06, + "acceleration": 4.880503112758561e-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": 8.608762072981335e-06, + "observation_loss": 8.554809028282762e-06, + "chamfer": 6.796106390538625e-06, + "track": 1.7587028651178116e-06, + "acceleration": 5.3953378653659456e-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": 8.571980288252234e-06, + "observation_loss": 8.510867701261304e-06, + "chamfer": 6.758089966751868e-06, + "track": 1.7527776208225987e-06, + "acceleration": 6.111272199404993e-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": 8.641456588520668e-06, + "observation_loss": 8.564039490011055e-06, + "chamfer": 6.790437510062475e-06, + "track": 1.773601638888067e-06, + "acceleration": 7.741743246469923e-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": 8.686317414685618e-06, + "observation_loss": 8.608889402239583e-06, + "chamfer": 6.8203344198991545e-06, + "track": 1.788554982340429e-06, + "acceleration": 7.742803376231677e-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": 8.821213668852579e-06, + "observation_loss": 8.640306987217627e-06, + "chamfer": 6.82348718328285e-06, + "track": 1.8168193491874263e-06, + "acceleration": 1.8090649689384009e-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": 9.042037163453642e-06, + "observation_loss": 8.698372766957618e-06, + "chamfer": 6.863508588139666e-06, + "track": 1.8348638377574389e-06, + "acceleration": 3.4366465229140886e-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": 9.540011888020672e-06, + "observation_loss": 8.806155165075324e-06, + "chamfer": 6.9200627876853105e-06, + "track": 1.8860922637031763e-06, + "acceleration": 7.338567797887663e-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": 9.987996236304753e-06, + "observation_loss": 8.95509947440587e-06, + "chamfer": 7.026055754977278e-06, + "track": 1.929043492054916e-06, + "acceleration": 1.0328967618988827e-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": 9.62614740274148e-06, + "observation_loss": 9.088455954042729e-06, + "chamfer": 7.120378541003447e-06, + "track": 1.9680776404129574e-06, + "acceleration": 5.376911644816573e-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": 9.544167369313072e-06, + "observation_loss": 9.356721420772374e-06, + "chamfer": 7.305644885491347e-06, + "track": 2.051076080533676e-06, + "acceleration": 1.8744557905847614e-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": 9.83588324743323e-06, + "observation_loss": 9.70215205597924e-06, + "chamfer": 7.524211923737312e-06, + "track": 2.1779403596156044e-06, + "acceleration": 1.3373146146022918e-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": 1.0210979780822527e-05, + "observation_loss": 1.0151180504180957e-05, + "chamfer": 7.817535333742853e-06, + "track": 2.333645397811779e-06, + "acceleration": 5.979942585554454e-08, + "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": 1.0402042789792176e-05, + "observation_loss": 1.0350934644520748e-05, + "chamfer": 7.941120202303864e-06, + "track": 2.4098146695905598e-06, + "acceleration": 5.110804579544492e-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": 1.0687833309930284e-05, + "observation_loss": 1.0463212674949318e-05, + "chamfer": 8.002838512766175e-06, + "track": 2.4603739348094678e-06, + "acceleration": 2.2462070603523898e-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": 1.0695414857764263e-05, + "observation_loss": 1.0555322660366073e-05, + "chamfer": 8.030868229980115e-06, + "track": 2.5244548851333093e-06, + "acceleration": 1.400921547656253e-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": 1.0674372788344044e-05, + "observation_loss": 1.0586827556835487e-05, + "chamfer": 8.03023976914119e-06, + "track": 2.5565877876942977e-06, + "acceleration": 8.754508229458224e-08, + "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": 1.0729315363278147e-05, + "observation_loss": 1.046998477249872e-05, + "chamfer": 7.952246050990652e-06, + "track": 2.517739176255418e-06, + "acceleration": 2.593302781406237e-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": 1.0904276678047609e-05, + "observation_loss": 1.0255928827973548e-05, + "chamfer": 7.82166807766771e-06, + "track": 2.4342609776795143e-06, + "acceleration": 6.48347963760898e-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": 1.0602872862364165e-05, + "observation_loss": 1.0193176422035322e-05, + "chamfer": 7.77448349253973e-06, + "track": 2.4186924747482408e-06, + "acceleration": 4.096967529676476e-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": 1.0533317436056677e-05, + "observation_loss": 1.0138764992007054e-05, + "chamfer": 7.733545317023527e-06, + "track": 2.405219902357203e-06, + "acceleration": 3.945522166759474e-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": 1.1732619896065444e-05, + "observation_loss": 1.0003207535191905e-05, + "chamfer": 7.627539162058383e-06, + "track": 2.375668145759846e-06, + "acceleration": 1.7294124745603767e-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": 1.1054191418224946e-05, + "observation_loss": 1.0070602911582682e-05, + "chamfer": 7.68886548030423e-06, + "track": 2.3817376586521277e-06, + "acceleration": 9.835881655817502e-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": 1.0399057828180958e-05, + "observation_loss": 1.0154018127650488e-05, + "chamfer": 7.74266754888231e-06, + "track": 2.4113503513945034e-06, + "acceleration": 2.4503984263901657e-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": 1.047625391947804e-05, + "observation_loss": 1.0175667739531491e-05, + "chamfer": 7.723792805336416e-06, + "track": 2.451874934195075e-06, + "acceleration": 3.005861515248398e-07, + "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": 1.0493398804101162e-05, + "observation_loss": 1.0232546628685668e-05, + "chamfer": 7.737531632301398e-06, + "track": 2.495014769010595e-06, + "acceleration": 2.608517775115615e-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": 1.077250090020243e-05, + "observation_loss": 1.0525857760512736e-05, + "chamfer": 7.883067155489698e-06, + "track": 2.642790377649362e-06, + "acceleration": 2.466433386416611e-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": 1.1029773304471746e-05, + "observation_loss": 1.0838206435437314e-05, + "chamfer": 8.034196980588604e-06, + "track": 2.8040090001013596e-06, + "acceleration": 1.9156721009494504e-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": 1.1357195944583509e-05, + "observation_loss": 1.119759508583229e-05, + "chamfer": 8.231318133766763e-06, + "track": 2.966277179439203e-06, + "acceleration": 1.5960081611865462e-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": 1.1530229130585212e-05, + "observation_loss": 1.1390767213015351e-05, + "chamfer": 8.329001502715982e-06, + "track": 3.061765710299369e-06, + "acceleration": 1.394618180938778e-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": 1.1837018973892555e-05, + "observation_loss": 1.1594978786888532e-05, + "chamfer": 8.457761396130081e-06, + "track": 3.1372176181321265e-06, + "acceleration": 2.4203987436521857e-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": 1.2088214134564623e-05, + "observation_loss": 1.191875162476208e-05, + "chamfer": 8.66158734424971e-06, + "track": 3.257164735259721e-06, + "acceleration": 1.6946242453741434e-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": 1.2272210369701497e-05, + "observation_loss": 1.2189934750495013e-05, + "chamfer": 8.819944014248904e-06, + "track": 3.3699909636197845e-06, + "acceleration": 8.22755694684929e-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": 1.2380528460198548e-05, + "observation_loss": 1.2311352293181699e-05, + "chamfer": 8.87825899553718e-06, + "track": 3.4330935250181938e-06, + "acceleration": 6.917638728509701e-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": 1.2457545381039381e-05, + "observation_loss": 1.2388807590468787e-05, + "chamfer": 8.932663149607833e-06, + "track": 3.4561439861136023e-06, + "acceleration": 6.873780478144909e-08, + "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": 1.247543787030736e-05, + "observation_loss": 1.2407303074724041e-05, + "chamfer": 8.919779247662518e-06, + "track": 3.487523372314172e-06, + "acceleration": 6.813461084220762e-08, + "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": 1.246929241460748e-05, + "observation_loss": 1.2425299246388022e-05, + "chamfer": 8.908172276278492e-06, + "track": 3.5171267427358544e-06, + "acceleration": 4.399322506287717e-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": 1.2541714568214957e-05, + "observation_loss": 1.2403345863276627e-05, + "chamfer": 8.896843610273208e-06, + "track": 3.506502480377094e-06, + "acceleration": 1.3836906020969764e-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": 1.2519641131802928e-05, + "observation_loss": 1.2388522918627132e-05, + "chamfer": 8.888976481102873e-06, + "track": 3.499546437524259e-06, + "acceleration": 1.3111839791690727e-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": 1.2376203812891617e-05, + "observation_loss": 1.236386742675677e-05, + "chamfer": 8.858471119310707e-06, + "track": 3.5053958526987117e-06, + "acceleration": 1.2336015764446984e-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": 1.2404263543430716e-05, + "observation_loss": 1.2339441127551254e-05, + "chamfer": 8.832696948957164e-06, + "track": 3.5067444059677655e-06, + "acceleration": 6.482242298488927e-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": 1.2463817256502807e-05, + "observation_loss": 1.2327044714766089e-05, + "chamfer": 8.817120033199899e-06, + "track": 3.5099249089398654e-06, + "acceleration": 1.3677299648406915e-07, + "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": 1.2350250472081825e-05, + "observation_loss": 1.2229610547365155e-05, + "chamfer": 8.761488061281852e-06, + "track": 3.4681224860833026e-06, + "acceleration": 1.206401378794908e-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": 1.2122434782213531e-05, + "observation_loss": 1.2085804883099627e-05, + "chamfer": 8.68787265062565e-06, + "track": 3.3979324598476524e-06, + "acceleration": 3.663002701159712e-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": 9.236846440311789e-06, + "chamfer_mean": 6.374984129327761e-06, + "track_mean": 1.8297981225027609e-06, + "acceleration_mean": 1.03206423066049e-06, + "observation_score": 8.204782233178776e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4299005359989678 + }, + "score_arrays_file": "pass_scores/pass_end_0160.npz", + "score_arrays_sha256": "b0e538d87f1b904009353c4100d86295e7327d30b17bdd7f7306645aabbb8307" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0161.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0161.json new file mode 100644 index 0000000000000000000000000000000000000000..9dfd01bdbfa806b308329d8fce699b2a184534ba --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0161.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15456, + "completed_passes": 161, + "snapshot": "pass_end_0161", + "candidate": true, + "snapshot_arrays_sha256": "1c9b6278039d118f0ef54365b0b65b081e3263199ff7a01630713441a5f2f8ed", + "score": 8.192712042405978e-06, + "score_result": { + "score": 8.192712042405978e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9491652639990207e-06, + 3.2521811590413563e-06, + 3.597318254833226e-06, + 4.269383680366445e-06, + 5.039730240241624e-06, + 5.404629519034643e-06, + 5.368118308979319e-06, + 5.262167178443633e-06, + 5.1102515499223955e-06, + 5.099011559650535e-06, + 5.32028207089752e-06, + 5.555015832214849e-06, + 5.789671376987826e-06, + 5.939051334280521e-06, + 5.9784483710245695e-06, + 6.090791430324316e-06, + 5.947334102529567e-06, + 5.683316885551903e-06, + 5.509892162081087e-06, + 5.434981176222209e-06, + 5.387891633290565e-06, + 5.241073722572764e-06, + 5.027849056205014e-06, + 4.951082701154519e-06, + 5.071495252195746e-06, + 5.34658329343074e-06, + 5.634658919007052e-06, + 5.819718353450298e-06, + 5.862609668838559e-06, + 5.818928002554458e-06, + 5.747298928326927e-06, + 5.832971964991884e-06, + 6.024754839017987e-06, + 6.26981181994779e-06, + 6.470841526606819e-06, + 6.763303645129781e-06, + 7.040519449219573e-06, + 7.102018571458757e-06, + 6.964341991988476e-06, + 6.96566758051631e-06, + 7.261967766680755e-06, + 7.601570814586012e-06, + 7.737367923255078e-06, + 7.862802704039495e-06, + 7.917513357824646e-06, + 7.927601473056711e-06, + 7.952338819450233e-06, + 8.323791917064227e-06, + 8.958811122283805e-06, + 9.43498162087053e-06, + 9.299344128521625e-06, + 8.992810762720183e-06, + 8.735492883715779e-06, + 8.530386367056053e-06, + 8.487624654662795e-06, + 8.542167051928118e-06, + 8.588103810325265e-06, + 8.620887456345372e-06, + 8.679317033966072e-06, + 8.787686965661123e-06, + 8.937609891290776e-06, + 9.072542525245808e-06, + 9.342188604932744e-06, + 9.690426850283984e-06, + 1.0141995517187752e-05, + 1.0345219379814807e-05, + 1.0461769306857605e-05, + 1.055776283465093e-05, + 1.0592309081403073e-05, + 1.047627392836148e-05, + 1.0263125659548678e-05, + 1.0202267731074244e-05, + 1.0151354217668995e-05, + 1.000985866994597e-05, + 1.0081921573146246e-05, + 1.0164450031879824e-05, + 1.0183362974203192e-05, + 1.0236632078886032e-05, + 1.0529981409490574e-05, + 1.0840844879567157e-05, + 1.1200998415006325e-05, + 1.1396155059628654e-05, + 1.1598032870097086e-05, + 1.1919168173335493e-05, + 1.2191674613859504e-05, + 1.2313525076024234e-05, + 1.2391657037369441e-05, + 1.2410863746481482e-05, + 1.2428975423972588e-05, + 1.2406116184138227e-05, + 1.2392709322739393e-05, + 1.2368637726467568e-05, + 1.234564115293324e-05, + 1.2333981430856511e-05, + 1.2238871022418607e-05, + 1.2094720659661107e-05 + ] + ], + "episode_mean_losses": [ + 8.192712042405978e-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": 2.9491652639990207e-06, + "observation_loss": 2.9491652639990207e-06, + "chamfer": 2.501506060070824e-06, + "track": 4.4765926077161566e-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": 4.277268817531876e-05, + "observation_loss": 3.2521811590413563e-06, + "chamfer": 2.751247620835784e-06, + "track": 5.009336518924101e-07, + "acceleration": 3.9520506106782705e-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": 2.557005427661352e-05, + "observation_loss": 3.597318254833226e-06, + "chamfer": 3.039680905203568e-06, + "track": 5.576372927862394e-07, + "acceleration": 2.1972735339659266e-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": 1.2019442692690063e-05, + "observation_loss": 4.269383680366445e-06, + "chamfer": 3.5775663036474725e-06, + "track": 6.918174904058105e-07, + "acceleration": 7.750059012323618e-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": 9.516206773696467e-06, + "observation_loss": 5.039730240241624e-06, + "chamfer": 4.170718511886662e-06, + "track": 8.690117851983814e-07, + "acceleration": 4.476476078707492e-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": 6.9994639488868415e-06, + "observation_loss": 5.404629519034643e-06, + "chamfer": 4.4408989197108895e-06, + "track": 9.637305993237533e-07, + "acceleration": 1.5948345435390365e-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": 6.408869012375362e-06, + "observation_loss": 5.368118308979319e-06, + "chamfer": 4.392880782688735e-06, + "track": 9.752375262905844e-07, + "acceleration": 1.0407508170828805e-06, + "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": 5.891975888516754e-06, + "observation_loss": 5.262167178443633e-06, + "chamfer": 4.306087248551194e-06, + "track": 9.56079702518764e-07, + "acceleration": 6.298087669165398e-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": 6.017458417773014e-06, + "observation_loss": 5.1102515499223955e-06, + "chamfer": 4.1932858039217535e-06, + "track": 9.169655754703854e-07, + "acceleration": 9.07207038380875e-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": 5.746871011069743e-06, + "observation_loss": 5.099011559650535e-06, + "chamfer": 4.196740064799087e-06, + "track": 9.022715516948665e-07, + "acceleration": 6.478595082626271e-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": 5.671390681527555e-06, + "observation_loss": 5.32028207089752e-06, + "chamfer": 4.391778020362835e-06, + "track": 9.285038231610088e-07, + "acceleration": 3.5110855378661654e-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": 5.951381808699807e-06, + "observation_loss": 5.555015832214849e-06, + "chamfer": 4.5871970542066265e-06, + "track": 9.678186643213849e-07, + "acceleration": 3.963660617500864e-07, + "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": 6.019144620950101e-06, + "observation_loss": 5.789671376987826e-06, + "chamfer": 4.790269940713188e-06, + "track": 9.99401208900963e-07, + "acceleration": 2.2947315869714657e-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": 6.26479959464632e-06, + "observation_loss": 5.939051334280521e-06, + "chamfer": 4.918224931316217e-06, + "track": 1.0208266303379787e-06, + "acceleration": 3.257482035223802e-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": 6.466272679972462e-06, + "observation_loss": 5.9784483710245695e-06, + "chamfer": 4.956696102453861e-06, + "track": 1.0217523822575458e-06, + "acceleration": 4.87824252104474e-07, + "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": 6.3900788518367335e-06, + "observation_loss": 6.090791430324316e-06, + "chamfer": 5.050581421528477e-06, + "track": 1.0402102361695142e-06, + "acceleration": 2.9928736466899863e-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": 6.164101705508074e-06, + "observation_loss": 5.947334102529567e-06, + "chamfer": 4.9325158215651754e-06, + "track": 1.0148185083380667e-06, + "acceleration": 2.1676770245449006e-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": 6.0379452406778e-06, + "observation_loss": 5.683316885551903e-06, + "chamfer": 4.720680408354383e-06, + "track": 9.626364771975204e-07, + "acceleration": 3.546284972344438e-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": 5.702107500837883e-06, + "observation_loss": 5.509892162081087e-06, + "chamfer": 4.583858299156418e-06, + "track": 9.260337492378312e-07, + "acceleration": 1.9221519664824882e-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": 5.5842610890977085e-06, + "observation_loss": 5.434981176222209e-06, + "chamfer": 4.523512870946433e-06, + "track": 9.114681347455189e-07, + "acceleration": 1.492799270863543e-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": 5.622703156404896e-06, + "observation_loss": 5.387891633290565e-06, + "chamfer": 4.486008492676774e-06, + "track": 9.018831406137906e-07, + "acceleration": 2.3481138100578391e-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": 5.526625045604305e-06, + "observation_loss": 5.241073722572764e-06, + "chamfer": 4.3699483285308816e-06, + "track": 8.711252235116262e-07, + "acceleration": 2.855513514532504e-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": 5.214788416196825e-06, + "observation_loss": 5.027849056205014e-06, + "chamfer": 4.199832801532466e-06, + "track": 8.280163683593855e-07, + "acceleration": 1.8693927472668292e-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": 5.096129825687967e-06, + "observation_loss": 4.951082701154519e-06, + "chamfer": 4.13123279940919e-06, + "track": 8.198499017453287e-07, + "acceleration": 1.4504702505746536e-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": 5.223981588642346e-06, + "observation_loss": 5.071495252195746e-06, + "chamfer": 4.213267402519705e-06, + "track": 8.582280202062975e-07, + "acceleration": 1.524863080248906e-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": 5.672081897500902e-06, + "observation_loss": 5.34658329343074e-06, + "chamfer": 4.415621788211865e-06, + "track": 9.309613915320369e-07, + "acceleration": 3.254986040701624e-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": 6.012237918184837e-06, + "observation_loss": 5.634658919007052e-06, + "chamfer": 4.6259442569862586e-06, + "track": 1.0087146620207932e-06, + "acceleration": 3.775789139126573e-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": 6.0952993408136535e-06, + "observation_loss": 5.819718353450298e-06, + "chamfer": 4.767999598698225e-06, + "track": 1.051718527378398e-06, + "acceleration": 2.755810442067741e-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": 6.401054633897729e-06, + "observation_loss": 5.862609668838559e-06, + "chamfer": 4.809854090126464e-06, + "track": 1.0527555787120946e-06, + "acceleration": 5.384449650591705e-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": 6.0333250075927936e-06, + "observation_loss": 5.818928002554458e-06, + "chamfer": 4.780116341862595e-06, + "track": 1.038811660691863e-06, + "acceleration": 2.1439721820115665e-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": 5.841769052494783e-06, + "observation_loss": 5.747298928326927e-06, + "chamfer": 4.727445684693521e-06, + "track": 1.0198534710070817e-06, + "acceleration": 9.44699607430266e-08, + "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": 5.924085598962847e-06, + "observation_loss": 5.832971964991884e-06, + "chamfer": 4.793358129973058e-06, + "track": 1.039613721331989e-06, + "acceleration": 9.111352028412512e-08, + "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": 6.12858548265649e-06, + "observation_loss": 6.024754839017987e-06, + "chamfer": 4.945069576933747e-06, + "track": 1.0796853757710778e-06, + "acceleration": 1.0383057968965659e-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": 6.388904694176745e-06, + "observation_loss": 6.26981181994779e-06, + "chamfer": 5.125931693328312e-06, + "track": 1.143880012932641e-06, + "acceleration": 1.1909277475297131e-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": 6.575619408977218e-06, + "observation_loss": 6.470841526606819e-06, + "chamfer": 5.282739493850386e-06, + "track": 1.1881019190695952e-06, + "acceleration": 1.0477791079210874e-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": 6.936148565728217e-06, + "observation_loss": 6.763303645129781e-06, + "chamfer": 5.501917712535942e-06, + "track": 1.2613861599675147e-06, + "acceleration": 1.7284513376125688e-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": 7.1039630711311474e-06, + "observation_loss": 7.040519449219573e-06, + "chamfer": 5.708312073693378e-06, + "track": 1.33220714815252e-06, + "acceleration": 6.344373559841188e-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": 7.4600238804123364e-06, + "observation_loss": 7.102018571458757e-06, + "chamfer": 5.766872163803782e-06, + "track": 1.3351465213418123e-06, + "acceleration": 3.5800533737528895e-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": 7.12313476469717e-06, + "observation_loss": 6.964341991988476e-06, + "chamfer": 5.681756647391012e-06, + "track": 1.2825852309106267e-06, + "acceleration": 1.5879268744356523e-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": 7.1509894041810185e-06, + "observation_loss": 6.96566758051631e-06, + "chamfer": 5.6864046200644225e-06, + "track": 1.279262960451888e-06, + "acceleration": 1.8532161050188733e-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": 7.526374247390777e-06, + "observation_loss": 7.261967766680755e-06, + "chamfer": 5.90592208027374e-06, + "track": 1.3560459137806902e-06, + "acceleration": 2.6440667966198816e-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": 7.790951713104732e-06, + "observation_loss": 7.601570814586012e-06, + "chamfer": 6.144379312900128e-06, + "track": 1.4571916153727216e-06, + "acceleration": 1.893807564101735e-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": 7.82572624302702e-06, + "observation_loss": 7.737367923255078e-06, + "chamfer": 6.223217042133911e-06, + "track": 1.5141509948080056e-06, + "acceleration": 8.835835529907854e-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": 7.909226042102091e-06, + "observation_loss": 7.862802704039495e-06, + "chamfer": 6.305117040028563e-06, + "track": 1.557685550324095e-06, + "acceleration": 4.642338069515972e-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": 7.992159225977957e-06, + "observation_loss": 7.917513357824646e-06, + "chamfer": 6.338324055832345e-06, + "track": 1.5791890746186255e-06, + "acceleration": 7.464620921382448e-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": 8.031443030631635e-06, + "observation_loss": 7.927601473056711e-06, + "chamfer": 6.345367182802875e-06, + "track": 1.5822339491933235e-06, + "acceleration": 1.038415717857788e-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": 8.159075150615536e-06, + "observation_loss": 7.952338819450233e-06, + "chamfer": 6.3603033595427405e-06, + "track": 1.592035346220655e-06, + "acceleration": 2.0673614642419125e-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": 8.461588549835142e-06, + "observation_loss": 8.323791917064227e-06, + "chamfer": 6.617432063649176e-06, + "track": 1.706359626041376e-06, + "acceleration": 1.377961922344184e-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": 9.041003977472428e-06, + "observation_loss": 8.958811122283805e-06, + "chamfer": 7.043773166515166e-06, + "track": 1.9150377283949638e-06, + "acceleration": 8.219260649866555e-08, + "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": 9.705228876555339e-06, + "observation_loss": 9.43498162087053e-06, + "chamfer": 7.368352271441836e-06, + "track": 2.066628894681344e-06, + "acceleration": 2.702475399019022e-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": 9.457526175538078e-06, + "observation_loss": 9.299344128521625e-06, + "chamfer": 7.281652415258577e-06, + "track": 2.0176919406367233e-06, + "acceleration": 1.5818238807696616e-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": 9.190822311211377e-06, + "observation_loss": 8.992810762720183e-06, + "chamfer": 7.0923556449997704e-06, + "track": 1.9004546629730612e-06, + "acceleration": 1.9801127848495526e-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": 8.784602869127411e-06, + "observation_loss": 8.735492883715779e-06, + "chamfer": 6.922178727108985e-06, + "track": 1.8133144976673066e-06, + "acceleration": 4.911042594812898e-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": 8.584357601648662e-06, + "observation_loss": 8.530386367056053e-06, + "chamfer": 6.7779542405332904e-06, + "track": 1.7524317854622495e-06, + "acceleration": 5.3971035640643095e-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": 8.549076483177487e-06, + "observation_loss": 8.487624654662795e-06, + "chamfer": 6.740815933881095e-06, + "track": 1.7468091755290516e-06, + "acceleration": 6.145138797819527e-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": 8.616743798484094e-06, + "observation_loss": 8.542167051928118e-06, + "chamfer": 6.774380381102674e-06, + "track": 1.7677865571386064e-06, + "acceleration": 7.457683892653222e-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": 8.654699740873184e-06, + "observation_loss": 8.588103810325265e-06, + "chamfer": 6.805064913351089e-06, + "track": 1.7830387832873384e-06, + "acceleration": 6.659568896338897e-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": 8.800079740467481e-06, + "observation_loss": 8.620887456345372e-06, + "chamfer": 6.809455044276547e-06, + "track": 1.811432866816176e-06, + "acceleration": 1.7919211359185283e-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": 9.025442523125093e-06, + "observation_loss": 8.679317033966072e-06, + "chamfer": 6.849863439128967e-06, + "track": 1.8294537085239426e-06, + "acceleration": 3.4612577337611583e-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": 9.523824701318517e-06, + "observation_loss": 8.787686965661123e-06, + "chamfer": 6.9070056269993074e-06, + "track": 1.8806812249749782e-06, + "acceleration": 7.361380198744882e-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": 9.97472943708999e-06, + "observation_loss": 8.937609891290776e-06, + "chamfer": 7.013912181719206e-06, + "track": 1.9236972548242193e-06, + "acceleration": 1.0371192047387012e-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": 9.614053851692006e-06, + "observation_loss": 9.072542525245808e-06, + "chamfer": 7.109508260327857e-06, + "track": 1.9630340375442756e-06, + "acceleration": 5.415114969764545e-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": 9.531810064800084e-06, + "observation_loss": 9.342188604932744e-06, + "chamfer": 7.295699106180109e-06, + "track": 2.0464897261263104e-06, + "acceleration": 1.8962126091537357e-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": 9.825389497564174e-06, + "observation_loss": 9.690426850283984e-06, + "chamfer": 7.5162288339925e-06, + "track": 2.1741982436651597e-06, + "acceleration": 1.3496244832822413e-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": 1.0202164048678242e-05, + "observation_loss": 1.0141995517187752e-05, + "chamfer": 7.811359864717815e-06, + "track": 2.3306361072172876e-06, + "acceleration": 6.016897913241337e-08, + "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": 1.039665312418947e-05, + "observation_loss": 1.0345219379814807e-05, + "chamfer": 7.93736307969084e-06, + "track": 2.4078565274976427e-06, + "acceleration": 5.143355608083766e-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": 1.0686907444323879e-05, + "observation_loss": 1.0461769306857605e-05, + "chamfer": 8.001969945325982e-06, + "track": 2.4597991341579473e-06, + "acceleration": 2.251377537731969e-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": 1.0698473488446325e-05, + "observation_loss": 1.055776283465093e-05, + "chamfer": 8.032703590288293e-06, + "track": 2.525059471736313e-06, + "acceleration": 1.4071095222334407e-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": 1.0679970728233457e-05, + "observation_loss": 1.0592309081403073e-05, + "chamfer": 8.034320671868045e-06, + "track": 2.557988409535028e-06, + "acceleration": 8.766135550786203e-08, + "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": 1.0735849173215684e-05, + "observation_loss": 1.047627392836148e-05, + "chamfer": 7.956562512845267e-06, + "track": 2.519711642889888e-06, + "acceleration": 2.595749037936912e-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": 1.0913206097029615e-05, + "observation_loss": 1.0263125659548678e-05, + "chamfer": 7.826431101420894e-06, + "track": 2.436695012875134e-06, + "acceleration": 6.500801532638434e-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": 1.0612107871565968e-05, + "observation_loss": 1.0202267731074244e-05, + "chamfer": 7.780681698932312e-06, + "track": 2.4215860321419314e-06, + "acceleration": 4.098405952390749e-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": 1.0591647878754884e-05, + "observation_loss": 1.0151354217668995e-05, + "chamfer": 7.742281013634056e-06, + "track": 2.409072976661264e-06, + "acceleration": 4.4029394530298305e-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": 1.1967796126555186e-05, + "observation_loss": 1.000985866994597e-05, + "chamfer": 7.63150819693692e-06, + "track": 2.378350018261699e-06, + "acceleration": 1.95793722923554e-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": 1.1209023796254769e-05, + "observation_loss": 1.0081921573146246e-05, + "chamfer": 7.696296961512417e-06, + "track": 2.385624156886479e-06, + "acceleration": 1.1271018820480094e-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": 1.0446538908581715e-05, + "observation_loss": 1.0164450031879824e-05, + "chamfer": 7.749582437099889e-06, + "track": 2.4148675947799347e-06, + "acceleration": 2.8208862090650655e-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": 1.050217997544678e-05, + "observation_loss": 1.0183362974203192e-05, + "chamfer": 7.728803211648483e-06, + "track": 2.454559307807358e-06, + "acceleration": 3.188173707258102e-07, + "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": 1.0501168617338408e-05, + "observation_loss": 1.0236632078886032e-05, + "chamfer": 7.740439286862966e-06, + "track": 2.496192564649391e-06, + "acceleration": 2.645362542352814e-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": 1.0778407158795744e-05, + "observation_loss": 1.0529981409490574e-05, + "chamfer": 7.886468665674329e-06, + "track": 2.643512971189921e-06, + "acceleration": 2.4842603352226433e-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": 1.1033180271624587e-05, + "observation_loss": 1.0840844879567157e-05, + "chamfer": 8.036854524107184e-06, + "track": 2.8039901280862978e-06, + "acceleration": 1.9233515047289984e-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": 1.136571245297091e-05, + "observation_loss": 1.1200998415006325e-05, + "chamfer": 8.234110282501206e-06, + "track": 2.9668885872524697e-06, + "acceleration": 1.6471400954287674e-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": 1.1540104424057063e-05, + "observation_loss": 1.1396155059628654e-05, + "chamfer": 8.333495316037443e-06, + "track": 3.062659970964887e-06, + "acceleration": 1.4394936442840844e-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": 1.183673975901911e-05, + "observation_loss": 1.1598032870097086e-05, + "chamfer": 8.460860954073723e-06, + "track": 3.1371719160233624e-06, + "acceleration": 2.387065762832208e-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": 1.2083337423973717e-05, + "observation_loss": 1.1919168173335493e-05, + "chamfer": 8.662882464705035e-06, + "track": 3.2562857086304575e-06, + "acceleration": 1.6416912274053175e-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": 1.2274123037059326e-05, + "observation_loss": 1.2191674613859504e-05, + "chamfer": 8.822561540000606e-06, + "track": 3.3691133012325736e-06, + "acceleration": 8.244806082302603e-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": 1.2381728083710186e-05, + "observation_loss": 1.2313525076024234e-05, + "chamfer": 8.88091108208755e-06, + "track": 3.432613993936684e-06, + "acceleration": 6.820260978201986e-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": 1.2460577636375092e-05, + "observation_loss": 1.2391657037369441e-05, + "chamfer": 8.935829100664705e-06, + "track": 3.455827936704736e-06, + "acceleration": 6.892082637932617e-08, + "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": 1.2479581528168637e-05, + "observation_loss": 1.2410863746481482e-05, + "chamfer": 8.92345815373119e-06, + "track": 3.4874055927502923e-06, + "acceleration": 6.871741220493277e-08, + "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": 1.2472506568883546e-05, + "observation_loss": 1.2428975423972588e-05, + "chamfer": 8.912324119592085e-06, + "track": 3.516651077006827e-06, + "acceleration": 4.353123728151331e-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": 1.25453279906651e-05, + "observation_loss": 1.2406116184138227e-05, + "chamfer": 8.900094144337345e-06, + "track": 3.506021812427207e-06, + "acceleration": 1.3921159336405253e-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": 1.2523558325483464e-05, + "observation_loss": 1.2392709322739393e-05, + "chamfer": 8.893208359950222e-06, + "track": 3.4995009627891704e-06, + "acceleration": 1.308492016960372e-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": 1.2380820407997817e-05, + "observation_loss": 1.2368637726467568e-05, + "chamfer": 8.862923095875885e-06, + "track": 3.5057148579653585e-06, + "acceleration": 1.2182386655013033e-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": 1.2411471288942266e-05, + "observation_loss": 1.234564115293324e-05, + "chamfer": 8.837912901071832e-06, + "track": 3.5077277971140575e-06, + "acceleration": 6.583034917184705e-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": 1.2472799426177517e-05, + "observation_loss": 1.2333981430856511e-05, + "chamfer": 8.822865311230998e-06, + "track": 3.511115892251837e-06, + "acceleration": 1.3881812321869802e-07, + "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": 1.2359166248643305e-05, + "observation_loss": 1.2238871022418607e-05, + "chamfer": 8.768583029450383e-06, + "track": 3.470287992968224e-06, + "acceleration": 1.2029498464016797e-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": 1.2131737094023265e-05, + "observation_loss": 1.2094720659661107e-05, + "chamfer": 8.694994903635234e-06, + "track": 3.3997253012785222e-06, + "acceleration": 3.701633843888885e-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": 9.228392002569308e-06, + "chamfer_mean": 6.365984006606595e-06, + "track_mean": 1.8267280121146239e-06, + "acceleration_mean": 1.0356799083159156e-06, + "observation_score": 8.192712042405978e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4310061850010243 + }, + "score_arrays_file": "pass_scores/pass_end_0161.npz", + "score_arrays_sha256": "0adcd022a60360d185180a620a91c1672842b021f22edf2d677e2c77474f84ad" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0162.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0162.json new file mode 100644 index 0000000000000000000000000000000000000000..7c717f9e97e2dc83e13752cb1c32bb71b40a54fc --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0162.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15552, + "completed_passes": 162, + "snapshot": "pass_end_0162", + "candidate": true, + "snapshot_arrays_sha256": "81bc691124d278b09c2c9ebd874e5f5d9418957e45d10852122be11fab747ddf", + "score": 8.180103961308305e-06, + "score_result": { + "score": 8.180103961308305e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.949208010250004e-06, + 3.2499194730917225e-06, + 3.59254431714362e-06, + 4.256438842276111e-06, + 5.021158358431421e-06, + 5.383131338021485e-06, + 5.343566044757608e-06, + 5.2384339142008685e-06, + 5.088199031888507e-06, + 5.077967216493562e-06, + 5.302653789840406e-06, + 5.540477104659658e-06, + 5.774847522843629e-06, + 5.923505796090467e-06, + 5.960710950603243e-06, + 6.070806193747558e-06, + 5.928174687142018e-06, + 5.665173375746235e-06, + 5.493019216373796e-06, + 5.4165984693099745e-06, + 5.367378889786778e-06, + 5.221033461566549e-06, + 5.010199402022408e-06, + 4.9343821046932135e-06, + 5.05269144923659e-06, + 5.32412468601251e-06, + 5.612313543679193e-06, + 5.799896825919859e-06, + 5.8440818975213915e-06, + 5.804110969620524e-06, + 5.733842499466846e-06, + 5.820801106892759e-06, + 6.014291557221441e-06, + 6.257650511543034e-06, + 6.4558339545328636e-06, + 6.744793608959299e-06, + 7.022025329206372e-06, + 7.083232503646286e-06, + 6.943098924239166e-06, + 6.938225851627067e-06, + 7.230150913528632e-06, + 7.56811277824454e-06, + 7.70364476920804e-06, + 7.828962225175928e-06, + 7.883902071625926e-06, + 7.894570444477722e-06, + 7.920079951873049e-06, + 8.291879566968419e-06, + 8.926343980419915e-06, + 9.401554052601568e-06, + 9.268216672353446e-06, + 8.963068466982804e-06, + 8.706871994945686e-06, + 8.503525350533891e-06, + 8.462250661978032e-06, + 8.518410140823107e-06, + 8.565886673750356e-06, + 8.6001255112933e-06, + 8.659175364300609e-06, + 8.76800186233595e-06, + 8.918722414819058e-06, + 9.055238479049876e-06, + 9.325626706413459e-06, + 9.676192348706536e-06, + 1.0129525435331743e-05, + 1.0336572813685052e-05, + 1.0457199095981196e-05, + 1.055711618391797e-05, + 1.0595153980830219e-05, + 1.0481067874934524e-05, + 1.0269341146340594e-05, + 1.0210846085101366e-05, + 1.016331952996552e-05, + 1.0017469321610406e-05, + 1.0094278877659235e-05, + 1.0176057912758552e-05, + 1.0192610716330819e-05, + 1.0242249118164182e-05, + 1.0535183719184715e-05, + 1.0845310498552863e-05, + 1.120547949540196e-05, + 1.1401350093365181e-05, + 1.1600590369198471e-05, + 1.1918950804101769e-05, + 1.2192995200166479e-05, + 1.231510759680532e-05, + 1.2392899407132063e-05, + 1.2412609066814184e-05, + 1.2431526556611061e-05, + 1.2407991562213283e-05, + 1.2395133126119617e-05, + 1.237165997736156e-05, + 1.2349641110631637e-05, + 1.2340495231910609e-05, + 1.2246793630765751e-05, + 1.2102398613933474e-05 + ] + ], + "episode_mean_losses": [ + 8.180103961308305e-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": 2.949208010250004e-06, + "observation_loss": 2.949208010250004e-06, + "chamfer": 2.501548806321807e-06, + "track": 4.4765914708477794e-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": 4.272357909940183e-05, + "observation_loss": 3.2499194730917225e-06, + "chamfer": 2.74933222499385e-06, + "track": 5.005873049412912e-07, + "acceleration": 3.9473659853683785e-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": 2.5524186639813706e-05, + "observation_loss": 3.59254431714362e-06, + "chamfer": 3.035771442227997e-06, + "track": 5.56772931759042e-07, + "acceleration": 2.1931642550043762e-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": 1.1993774933216628e-05, + "observation_loss": 4.256438842276111e-06, + "chamfer": 3.5674470382218715e-06, + "track": 6.889917472108209e-07, + "acceleration": 7.737336090940516e-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": 9.503848559688777e-06, + "observation_loss": 5.021158358431421e-06, + "chamfer": 4.1569496715965215e-06, + "track": 8.64208573148062e-07, + "acceleration": 4.482689746510005e-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": 6.9752918534504715e-06, + "observation_loss": 5.383131338021485e-06, + "chamfer": 4.425929546414409e-06, + "track": 9.572017916070763e-07, + "acceleration": 1.5921605154289864e-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": 6.3796533140703104e-06, + "observation_loss": 5.343566044757608e-06, + "chamfer": 4.3761137931142e-06, + "track": 9.674520242697326e-07, + "acceleration": 1.0360873829995398e-06, + "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": 5.8679092944657896e-06, + "observation_loss": 5.2384339142008685e-06, + "chamfer": 4.290184733690694e-06, + "track": 9.482492941970122e-07, + "acceleration": 6.294752665780834e-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": 5.989060355204856e-06, + "observation_loss": 5.088199031888507e-06, + "chamfer": 4.178447397862328e-06, + "track": 9.097515203393414e-07, + "acceleration": 9.008613801597676e-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": 5.71875762034324e-06, + "observation_loss": 5.077967216493562e-06, + "chamfer": 4.182100383331999e-06, + "track": 8.958666626313061e-07, + "acceleration": 6.40790460693097e-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": 5.650245839206036e-06, + "observation_loss": 5.302653789840406e-06, + "chamfer": 4.379693109513028e-06, + "track": 9.229608508576348e-07, + "acceleration": 3.475920777873398e-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": 5.926385711063631e-06, + "observation_loss": 5.540477104659658e-06, + "chamfer": 4.577433628583094e-06, + "track": 9.63043362389726e-07, + "acceleration": 3.859087485125201e-07, + "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": 5.9948379202978685e-06, + "observation_loss": 5.774847522843629e-06, + "chamfer": 4.780232757184422e-06, + "track": 9.946146519723698e-07, + "acceleration": 2.1999021271312813e-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": 6.251100330700865e-06, + "observation_loss": 5.923505796090467e-06, + "chamfer": 4.90734555569361e-06, + "track": 1.016160354083695e-06, + "acceleration": 3.2759456303210754e-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": 6.434589522541501e-06, + "observation_loss": 5.960710950603243e-06, + "chamfer": 4.943773546983721e-06, + "track": 1.0169374036195222e-06, + "acceleration": 4.7387857193825766e-07, + "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": 6.355503501254134e-06, + "observation_loss": 6.070806193747558e-06, + "chamfer": 5.0355201892671175e-06, + "track": 1.0352857771067647e-06, + "acceleration": 2.8469736434999504e-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": 6.146562100184383e-06, + "observation_loss": 5.928174687142018e-06, + "chamfer": 4.918017566524213e-06, + "track": 1.0101568932441296e-06, + "acceleration": 2.1838752672920236e-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": 6.020197361067403e-06, + "observation_loss": 5.665173375746235e-06, + "chamfer": 4.706686468125554e-06, + "track": 9.584867939338437e-07, + "acceleration": 3.5502418427313387e-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": 5.686089480150258e-06, + "observation_loss": 5.493019216373796e-06, + "chamfer": 4.570596502162516e-06, + "track": 9.224228847415361e-07, + "acceleration": 1.9307032061988139e-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": 5.567409061768558e-06, + "observation_loss": 5.4165984693099745e-06, + "chamfer": 4.508789970714133e-06, + "track": 9.07808612282679e-07, + "acceleration": 1.5081054982601927e-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": 5.603690169664333e-06, + "observation_loss": 5.367378889786778e-06, + "chamfer": 4.469537998375017e-06, + "track": 8.978410050985985e-07, + "acceleration": 2.3631118040157162e-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": 5.507775767910061e-06, + "observation_loss": 5.221033461566549e-06, + "chamfer": 4.353739768703235e-06, + "track": 8.672939202369889e-07, + "acceleration": 2.8674213581325603e-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": 5.1995143621752504e-06, + "observation_loss": 5.010199402022408e-06, + "chamfer": 4.185464604233857e-06, + "track": 8.247346272582945e-07, + "acceleration": 1.893151306830987e-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": 5.081115432403749e-06, + "observation_loss": 4.9343821046932135e-06, + "chamfer": 4.117649041290861e-06, + "track": 8.16733006558934e-07, + "acceleration": 1.4673314296942408e-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": 5.206230525800493e-06, + "observation_loss": 5.05269144923659e-06, + "chamfer": 4.1981161302828696e-06, + "track": 8.545753757971397e-07, + "acceleration": 1.535392755158682e-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": 5.650229923048755e-06, + "observation_loss": 5.32412468601251e-06, + "chamfer": 4.397754310048185e-06, + "track": 9.263704328077438e-07, + "acceleration": 3.261054075665015e-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": 5.993842478346778e-06, + "observation_loss": 5.612313543679193e-06, + "chamfer": 4.608154085872229e-06, + "track": 1.0041595714938012e-06, + "acceleration": 3.8152907677613257e-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": 6.0812526498921216e-06, + "observation_loss": 5.799896825919859e-06, + "chamfer": 4.752334461954888e-06, + "track": 1.0475625913386466e-06, + "acceleration": 2.813557102854247e-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": 6.39045674688532e-06, + "observation_loss": 5.8440818975213915e-06, + "chamfer": 4.795092536369339e-06, + "track": 1.0489893611520529e-06, + "acceleration": 5.463747356770909e-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": 6.021758963470347e-06, + "observation_loss": 5.804110969620524e-06, + "chamfer": 4.768297912960406e-06, + "track": 1.0358131703469553e-06, + "acceleration": 2.1764806490409683e-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": 5.832211172673851e-06, + "observation_loss": 5.733842499466846e-06, + "chamfer": 4.716597686638124e-06, + "track": 1.0172449265155592e-06, + "acceleration": 9.836868031243284e-08, + "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": 5.919730938330758e-06, + "observation_loss": 5.820801106892759e-06, + "chamfer": 4.783388703799574e-06, + "track": 1.0374124030931853e-06, + "acceleration": 9.892995223026446e-08, + "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": 6.1204691519378684e-06, + "observation_loss": 6.014291557221441e-06, + "chamfer": 4.936533969157608e-06, + "track": 1.0777575880638324e-06, + "acceleration": 1.0617767998155614e-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": 6.37686252957792e-06, + "observation_loss": 6.257650511543034e-06, + "chamfer": 5.116100965096848e-06, + "track": 1.1415495464461856e-06, + "acceleration": 1.19211946980613e-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": 6.561351256095804e-06, + "observation_loss": 6.4558339545328636e-06, + "chamfer": 5.27070687894593e-06, + "track": 1.185126961900096e-06, + "acceleration": 1.0551752893661615e-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": 6.917065547895618e-06, + "observation_loss": 6.744793608959299e-06, + "chamfer": 5.48704019820434e-06, + "track": 1.2577532970681204e-06, + "acceleration": 1.722717399843532e-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": 7.08584548192448e-06, + "observation_loss": 7.022025329206372e-06, + "chamfer": 5.6935741667984985e-06, + "track": 1.3284511624078732e-06, + "acceleration": 6.38200603475525e-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": 7.4397325988684315e-06, + "observation_loss": 7.083232503646286e-06, + "chamfer": 5.7519396250427235e-06, + "track": 1.331292764916725e-06, + "acceleration": 3.564999815353076e-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": 7.102506970113609e-06, + "observation_loss": 6.943098924239166e-06, + "chamfer": 5.664886884915177e-06, + "track": 1.2782118119503139e-06, + "acceleration": 1.5940807429615234e-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": 7.123918294382747e-06, + "observation_loss": 6.938225851627067e-06, + "chamfer": 5.66467815588112e-06, + "track": 1.2735476957459468e-06, + "acceleration": 1.8569238591226167e-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": 7.495160843973281e-06, + "observation_loss": 7.230150913528632e-06, + "chamfer": 5.881276592845097e-06, + "track": 1.3488743206835352e-06, + "acceleration": 2.6501010097490507e-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": 7.757745152048301e-06, + "observation_loss": 7.56811277824454e-06, + "chamfer": 6.1185423874121625e-06, + "track": 1.4495703908323776e-06, + "acceleration": 1.8963253012316272e-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": 7.791436473780777e-06, + "observation_loss": 7.70364476920804e-06, + "chamfer": 6.197245966177434e-06, + "track": 1.5063991440911195e-06, + "acceleration": 8.779138482850612e-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": 7.875815754232462e-06, + "observation_loss": 7.828962225175928e-06, + "chamfer": 6.279326953517739e-06, + "track": 1.549635499031865e-06, + "acceleration": 4.685366050694029e-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": 7.958929927553982e-06, + "observation_loss": 7.883902071625926e-06, + "chamfer": 6.312699042609893e-06, + "track": 1.5712026879555197e-06, + "acceleration": 7.50278630334833e-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": 7.998960427357815e-06, + "observation_loss": 7.894570444477722e-06, + "chamfer": 6.320160537143238e-06, + "track": 1.574410362081835e-06, + "acceleration": 1.0438957787073377e-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": 8.127398359647486e-06, + "observation_loss": 7.920079951873049e-06, + "chamfer": 6.335616035357816e-06, + "track": 1.5844640302020707e-06, + "acceleration": 2.0731816618990706e-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": 8.429928129771724e-06, + "observation_loss": 8.291879566968419e-06, + "chamfer": 6.5933168116316665e-06, + "track": 1.6985627553367522e-06, + "acceleration": 1.3804893228552828e-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": 9.008492270368151e-06, + "observation_loss": 8.926343980419915e-06, + "chamfer": 7.0198993853409775e-06, + "track": 1.9064448224526132e-06, + "acceleration": 8.214819047225319e-08, + "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": 9.67139294516528e-06, + "observation_loss": 9.401554052601568e-06, + "chamfer": 7.343986453633988e-06, + "track": 2.0575671442202292e-06, + "acceleration": 2.6983900625054957e-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": 9.426506039744709e-06, + "observation_loss": 9.268216672353446e-06, + "chamfer": 7.25909785614931e-06, + "track": 2.009119270951487e-06, + "acceleration": 1.5828975108433951e-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": 9.162011338048615e-06, + "observation_loss": 8.963068466982804e-06, + "chamfer": 7.070475021464517e-06, + "track": 1.892593445518287e-06, + "acceleration": 1.989427573789726e-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": 8.756304850976449e-06, + "observation_loss": 8.706871994945686e-06, + "chamfer": 6.901018878124887e-06, + "track": 1.8058533441944746e-06, + "acceleration": 4.943287734704427e-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": 8.557253750041127e-06, + "observation_loss": 8.503525350533891e-06, + "chamfer": 6.757894425390987e-06, + "track": 1.7456310388297425e-06, + "acceleration": 5.3728339111103196e-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": 8.523427823092788e-06, + "observation_loss": 8.462250661978032e-06, + "chamfer": 6.72183296046569e-06, + "track": 1.7404177015123423e-06, + "acceleration": 6.117706874420037e-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": 8.590429388277698e-06, + "observation_loss": 8.518410140823107e-06, + "chamfer": 6.756791208317736e-06, + "track": 1.7616188188185333e-06, + "acceleration": 7.201958851510426e-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": 8.624425390735269e-06, + "observation_loss": 8.565886673750356e-06, + "chamfer": 6.7886198849009816e-06, + "track": 1.7772670162230497e-06, + "acceleration": 5.8538269342989224e-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": 8.778506526141427e-06, + "observation_loss": 8.6001255112933e-06, + "chamfer": 6.7943492467748e-06, + "track": 1.8057761508316617e-06, + "acceleration": 1.783809580047091e-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": 9.006739674077835e-06, + "observation_loss": 8.659175364300609e-06, + "chamfer": 6.835390649939654e-06, + "track": 1.8237851691083051e-06, + "acceleration": 3.475641960903886e-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": 9.505411981081124e-06, + "observation_loss": 8.76800186233595e-06, + "chamfer": 6.893096724525094e-06, + "track": 1.8749053651845315e-06, + "acceleration": 7.374097776846611e-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": 9.961014256987255e-06, + "observation_loss": 8.918722414819058e-06, + "chamfer": 7.000736331974622e-06, + "track": 1.9179863102181116e-06, + "acceleration": 1.0422921832287102e-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": 9.601668352843262e-06, + "observation_loss": 9.055238479049876e-06, + "chamfer": 7.0976507231534924e-06, + "track": 1.957587301149033e-06, + "acceleration": 5.464303285407368e-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": 9.51781930780271e-06, + "observation_loss": 9.325626706413459e-06, + "chamfer": 7.2843222369556315e-06, + "track": 2.041304242084152e-06, + "acceleration": 1.9219231717215735e-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": 9.81238281383412e-06, + "observation_loss": 9.676192348706536e-06, + "chamfer": 7.506440397264669e-06, + "track": 2.169751724068192e-06, + "acceleration": 1.3619030880818173e-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": 1.0189902241108939e-05, + "observation_loss": 1.0129525435331743e-05, + "chamfer": 7.802776963217184e-06, + "track": 2.3267484721145593e-06, + "acceleration": 6.037703315087128e-08, + "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": 1.038811660691863e-05, + "observation_loss": 1.0336572813685052e-05, + "chamfer": 7.93148410593858e-06, + "track": 2.4050884803727968e-06, + "acceleration": 5.154406679253043e-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": 1.0681918865884654e-05, + "observation_loss": 1.0457199095981196e-05, + "chamfer": 7.998894034244586e-06, + "track": 2.4583052891102852e-06, + "acceleration": 2.2471982674687752e-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": 1.0697890502342489e-05, + "observation_loss": 1.055711618391797e-05, + "chamfer": 8.032352525333408e-06, + "track": 2.5247638859582366e-06, + "acceleration": 1.4077430421366444e-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": 1.0682974789233413e-05, + "observation_loss": 1.0595153980830219e-05, + "chamfer": 8.036387953325175e-06, + "track": 2.5587658001313685e-06, + "acceleration": 8.782036786669778e-08, + "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": 1.074007468560012e-05, + "observation_loss": 1.0481067874934524e-05, + "chamfer": 7.959762115206104e-06, + "track": 2.5213053049810696e-06, + "acceleration": 2.5900698119585286e-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": 1.0919545275100973e-05, + "observation_loss": 1.0269341146340594e-05, + "chamfer": 7.830409231246449e-06, + "track": 2.43893214246782e-06, + "acceleration": 6.502044129774731e-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": 1.0620303328323644e-05, + "observation_loss": 1.0210846085101366e-05, + "chamfer": 7.78641060605878e-06, + "track": 2.424435479042586e-06, + "acceleration": 4.0945727164398704e-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": 1.0650543117662892e-05, + "observation_loss": 1.016331952996552e-05, + "chamfer": 7.750290023977868e-06, + "track": 2.413029278613976e-06, + "acceleration": 4.872236445407907e-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": 1.2195408999104984e-05, + "observation_loss": 1.0017469321610406e-05, + "chamfer": 7.63609386922326e-06, + "track": 2.3813754523871467e-06, + "acceleration": 2.1779399048682535e-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": 1.1360685675754212e-05, + "observation_loss": 1.0094278877659235e-05, + "chamfer": 7.704385097895283e-06, + "track": 2.3898935523902765e-06, + "acceleration": 1.2664070254686521e-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": 1.0494704838492908e-05, + "observation_loss": 1.0176057912758552e-05, + "chamfer": 7.757151252008043e-06, + "track": 2.418906433376833e-06, + "acceleration": 3.186468973126466e-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": 1.052938932843972e-05, + "observation_loss": 1.0192610716330819e-05, + "chamfer": 7.734760401945096e-06, + "track": 2.4578505417593988e-06, + "acceleration": 3.36778271048388e-07, + "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": 1.05115786936949e-05, + "observation_loss": 1.0242249118164182e-05, + "chamfer": 7.744260983599816e-06, + "track": 2.497988589311717e-06, + "acceleration": 2.6932988816952275e-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": 1.078566401702119e-05, + "observation_loss": 1.0535183719184715e-05, + "chamfer": 7.890379492891952e-06, + "track": 2.644804226292763e-06, + "acceleration": 2.504805252101505e-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": 1.1037648619094398e-05, + "observation_loss": 1.0845310498552863e-05, + "chamfer": 8.040726243052632e-06, + "track": 2.8045840281265555e-06, + "acceleration": 1.9233779369187687e-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": 1.1374801033525728e-05, + "observation_loss": 1.120547949540196e-05, + "chamfer": 8.237576366809662e-06, + "track": 2.967902901218622e-06, + "acceleration": 1.6932172286487912e-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": 1.155015252152225e-05, + "observation_loss": 1.1401350093365181e-05, + "chamfer": 8.337882718478795e-06, + "track": 3.0634676022600615e-06, + "acceleration": 1.4880204446399148e-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": 1.1837397323688492e-05, + "observation_loss": 1.1600590369198471e-05, + "chamfer": 8.46376769914059e-06, + "track": 3.136822442684206e-06, + "acceleration": 2.36806798170619e-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": 1.2079635780537501e-05, + "observation_loss": 1.1918950804101769e-05, + "chamfer": 8.663809239806142e-06, + "track": 3.2551413369219517e-06, + "acceleration": 1.6068518959855282e-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": 1.2275911103643011e-05, + "observation_loss": 1.2192995200166479e-05, + "chamfer": 8.824891665426549e-06, + "track": 3.3681033073662547e-06, + "acceleration": 8.291606690136177e-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": 1.2382563909341116e-05, + "observation_loss": 1.231510759680532e-05, + "chamfer": 8.883256668923423e-06, + "track": 3.431851155255572e-06, + "acceleration": 6.745642622263404e-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": 1.246121792064514e-05, + "observation_loss": 1.2392899407132063e-05, + "chamfer": 8.938013706938364e-06, + "track": 3.4548857001936994e-06, + "acceleration": 6.831841403709404e-08, + "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": 1.2480880286602769e-05, + "observation_loss": 1.2412609066814184e-05, + "chamfer": 8.926126611186191e-06, + "track": 3.486482683001668e-06, + "acceleration": 6.827119847230279e-08, + "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": 1.2475036783143878e-05, + "observation_loss": 1.2431526556611061e-05, + "chamfer": 8.915871148929e-06, + "track": 3.5156556350557366e-06, + "acceleration": 4.350979310174807e-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": 1.2547696314868517e-05, + "observation_loss": 1.2407991562213283e-05, + "chamfer": 8.902893569029402e-06, + "track": 3.5050982205575565e-06, + "acceleration": 1.3970446843813988e-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": 1.2526316822913941e-05, + "observation_loss": 1.2395133126119617e-05, + "chamfer": 8.896410690795165e-06, + "track": 3.4987222079507774e-06, + "acceleration": 1.311837678485972e-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": 1.2383870853227563e-05, + "observation_loss": 1.237165997736156e-05, + "chamfer": 8.866420103004202e-06, + "track": 3.5052394196100067e-06, + "acceleration": 1.2210911393140123e-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": 1.2417034668033011e-05, + "observation_loss": 1.2349641110631637e-05, + "chamfer": 8.84190831129672e-06, + "track": 3.5077327993349172e-06, + "acceleration": 6.73931523920146e-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": 1.2483500540838577e-05, + "observation_loss": 1.2340495231910609e-05, + "chamfer": 8.828376849123742e-06, + "track": 3.512118155413191e-06, + "acceleration": 1.4300570683190017e-07, + "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": 1.236771004187176e-05, + "observation_loss": 1.2246793630765751e-05, + "chamfer": 8.775071364652831e-06, + "track": 3.4717224934865953e-06, + "acceleration": 1.2091661005797505e-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": 1.213803443533834e-05, + "observation_loss": 1.2102398613933474e-05, + "chamfer": 8.701312253833748e-06, + "track": 3.40108613272605e-06, + "acceleration": 3.5636144701811645e-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": 9.219593991360853e-06, + "chamfer_mean": 6.356597947861549e-06, + "track_mean": 1.8235060104861607e-06, + "acceleration_mean": 1.0394900418949267e-06, + "observation_score": 8.180103961308305e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4296549480004614 + }, + "score_arrays_file": "pass_scores/pass_end_0162.npz", + "score_arrays_sha256": "93f229a74d29252bfe3c6a63000ae348a620dba90a149bdd222a515414ff7601" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0163.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0163.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf486e622b6323c4d7813ab8bc03d4c41c3fb9e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0163.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15648, + "completed_passes": 163, + "snapshot": "pass_end_0163", + "candidate": true, + "snapshot_arrays_sha256": "9fbfdccae73486b1275ec5c7877c42e18c25b5a573813546ed1daa492535f3bf", + "score": 8.166613433502334e-06, + "score_result": { + "score": 8.166613433502334e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9491759505617665e-06, + 3.247785798521363e-06, + 3.588085974115529e-06, + 4.243742750986712e-06, + 5.0031371756631415e-06, + 5.361810053727822e-06, + 5.319565843819873e-06, + 5.215017154114321e-06, + 5.066751782578649e-06, + 5.057259841123596e-06, + 5.28563987245434e-06, + 5.526357199414633e-06, + 5.760713065683376e-06, + 5.908850653213449e-06, + 5.943362339166924e-06, + 6.0508564274641685e-06, + 5.9090803006256465e-06, + 5.647459147439804e-06, + 5.476545084093232e-06, + 5.399006113293581e-06, + 5.347948899725452e-06, + 5.201642579777399e-06, + 4.9930958994082175e-06, + 4.917956630379194e-06, + 5.034508376411395e-06, + 5.302480076352367e-06, + 5.5910340961418115e-06, + 5.780686933576362e-06, + 5.825718289997894e-06, + 5.789689112134511e-06, + 5.720703939005034e-06, + 5.8091873142984696e-06, + 6.0036536524421535e-06, + 6.245400072657503e-06, + 6.440683137043379e-06, + 6.72592159389751e-06, + 7.003097834967775e-06, + 7.065770205372246e-06, + 6.922860848135315e-06, + 6.912836397532374e-06, + 7.201669177447911e-06, + 7.539556008850923e-06, + 7.675332199141849e-06, + 7.800337698427029e-06, + 7.85579231887823e-06, + 7.866875421314035e-06, + 7.893823749327566e-06, + 8.267280463769566e-06, + 8.90219962457195e-06, + 9.376200978294946e-06, + 9.244045031664427e-06, + 8.93958167580422e-06, + 8.683908163220622e-06, + 8.480587894155178e-06, + 8.439112207270227e-06, + 8.495548172504641e-06, + 8.543477633793373e-06, + 8.578516826673876e-06, + 8.637921382614877e-06, + 8.74737997946795e-06, + 8.898779014998581e-06, + 9.036999472300522e-06, + 9.308573680755217e-06, + 9.661498552304693e-06, + 1.0116664270753972e-05, + 1.0326469237043057e-05, + 1.0450624358782079e-05, + 1.0553654647083022e-05, + 1.0594105333439074e-05, + 1.0480766832188237e-05, + 1.026961126626702e-05, + 1.0212222150585148e-05, + 1.0167773325520102e-05, + 1.0016725354944356e-05, + 1.0097930498886853e-05, + 1.0179056516790297e-05, + 1.0194205970037729e-05, + 1.024080120259896e-05, + 1.0532799024076667e-05, + 1.084268751583295e-05, + 1.120371507568052e-05, + 1.1401923075027298e-05, + 1.1598324817896355e-05, + 1.1913830348930787e-05, + 1.2189633707748726e-05, + 1.2311370483075734e-05, + 1.2388904906401876e-05, + 1.2409363080223557e-05, + 1.242845337401377e-05, + 1.2404539120325353e-05, + 1.2391697964631021e-05, + 1.2368984243948944e-05, + 1.234712908626534e-05, + 1.2340215107542463e-05, + 1.2248236089362763e-05, + 1.2102395885449369e-05 + ] + ], + "episode_mean_losses": [ + 8.166613433502334e-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": 2.9491759505617665e-06, + "observation_loss": 2.9491759505617665e-06, + "chamfer": 2.501528797438368e-06, + "track": 4.476471531233983e-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": 4.2674615542637184e-05, + "observation_loss": 3.247785798521363e-06, + "chamfer": 2.74752392215305e-06, + "track": 5.002618195248942e-07, + "acceleration": 3.942682815250009e-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": 2.5480720069026574e-05, + "observation_loss": 3.588085974115529e-06, + "chamfer": 3.0321214126161067e-06, + "track": 5.559645046560036e-07, + "acceleration": 2.189263432228472e-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": 1.197030724142678e-05, + "observation_loss": 4.243742750986712e-06, + "chamfer": 3.5574787489167647e-06, + "track": 6.862640589133662e-07, + "acceleration": 7.72656494518742e-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": 9.492003300692886e-06, + "observation_loss": 5.0031371756631415e-06, + "chamfer": 4.143581918469863e-06, + "track": 8.595553708801162e-07, + "acceleration": 4.488866125029745e-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": 6.952102012292016e-06, + "observation_loss": 5.361810053727822e-06, + "chamfer": 4.410953351907665e-06, + "track": 9.50856872350414e-07, + "acceleration": 1.5902918448773562e-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": 6.3522766140522435e-06, + "observation_loss": 5.319565843819873e-06, + "chamfer": 4.359736067272024e-06, + "track": 9.59829890234687e-07, + "acceleration": 1.0327106565455324e-06, + "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": 5.843683538842015e-06, + "observation_loss": 5.215017154114321e-06, + "chamfer": 4.274446837371215e-06, + "track": 9.405702598996868e-07, + "acceleration": 6.286664984145318e-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": 5.960577709629433e-06, + "observation_loss": 5.066751782578649e-06, + "chamfer": 4.164035999565385e-06, + "track": 9.027158398566826e-07, + "acceleration": 8.938259838942031e-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": 5.69078929402167e-06, + "observation_loss": 5.057259841123596e-06, + "chamfer": 4.167689439782407e-06, + "track": 8.895701739675133e-07, + "acceleration": 6.335295097414928e-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": 5.629983661492588e-06, + "observation_loss": 5.28563987245434e-06, + "chamfer": 4.368045210867422e-06, + "track": 9.175944910566614e-07, + "acceleration": 3.4434378903824836e-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": 5.9022349887527525e-06, + "observation_loss": 5.526357199414633e-06, + "chamfer": 4.567865289573092e-06, + "track": 9.584921372152166e-07, + "acceleration": 3.7587801671179477e-07, + "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": 5.971736300125485e-06, + "observation_loss": 5.760713065683376e-06, + "chamfer": 4.770633495354559e-06, + "track": 9.900793429551413e-07, + "acceleration": 2.1102323444210924e-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": 6.238812147785211e-06, + "observation_loss": 5.908850653213449e-06, + "chamfer": 4.897130565950647e-06, + "track": 1.0117198598891264e-06, + "acceleration": 3.299616082585999e-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": 6.401945483958116e-06, + "observation_loss": 5.943362339166924e-06, + "chamfer": 4.931105195282726e-06, + "track": 1.0122569165105233e-06, + "acceleration": 4.58583116369482e-07, + "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": 6.321360615402227e-06, + "observation_loss": 6.0508564274641685e-06, + "chamfer": 5.020427579438547e-06, + "track": 1.0304288480256218e-06, + "acceleration": 2.7050410267293046e-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": 6.129758276074426e-06, + "observation_loss": 5.9090803006256465e-06, + "chamfer": 4.903548415313708e-06, + "track": 1.0055318853119388e-06, + "acceleration": 2.2067811755732691e-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": 6.003240287100198e-06, + "observation_loss": 5.647459147439804e-06, + "chamfer": 4.6930094868002925e-06, + "track": 9.544496606395114e-07, + "acceleration": 3.557812249255221e-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": 5.670729933626717e-06, + "observation_loss": 5.476545084093232e-06, + "chamfer": 4.557608008326497e-06, + "track": 9.189368483930593e-07, + "acceleration": 1.9418473584664753e-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": 5.55105589228333e-06, + "observation_loss": 5.399006113293581e-06, + "chamfer": 4.494688710110495e-06, + "track": 9.043171758094104e-07, + "acceleration": 1.520497505680396e-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": 5.585493909165962e-06, + "observation_loss": 5.347948899725452e-06, + "chamfer": 4.453931069292594e-06, + "track": 8.940180009631149e-07, + "acceleration": 2.3754517997076618e-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": 5.488946044351906e-06, + "observation_loss": 5.201642579777399e-06, + "chamfer": 4.338027338235406e-06, + "track": 8.636153552288306e-07, + "acceleration": 2.8730332246595935e-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": 5.184071142139146e-06, + "observation_loss": 4.9930958994082175e-06, + "chamfer": 4.171538876107661e-06, + "track": 8.215572506742319e-07, + "acceleration": 1.909754558937493e-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": 5.066624908067752e-06, + "observation_loss": 4.917956630379194e-06, + "chamfer": 4.104284926143009e-06, + "track": 8.136718179230229e-07, + "acceleration": 1.486683061102667e-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": 5.189277544559445e-06, + "observation_loss": 5.034508376411395e-06, + "chamfer": 4.183444161753869e-06, + "track": 8.51064385187783e-07, + "acceleration": 1.5476939552172553e-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": 5.627739938063314e-06, + "observation_loss": 5.302480076352367e-06, + "chamfer": 4.380496648082044e-06, + "track": 9.219835419571609e-07, + "acceleration": 3.2525991855436587e-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": 5.976364263915457e-06, + "observation_loss": 5.5910340961418115e-06, + "chamfer": 4.59116427009576e-06, + "track": 9.998699397328892e-07, + "acceleration": 3.8533013935193594e-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": 6.068307357054437e-06, + "observation_loss": 5.780686933576362e-06, + "chamfer": 4.7370722313644364e-06, + "track": 1.0436148158987635e-06, + "acceleration": 2.876206224300404e-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": 6.3794691413932014e-06, + "observation_loss": 5.825718289997894e-06, + "chamfer": 4.780345079780091e-06, + "track": 1.0453729828441283e-06, + "acceleration": 5.537510219255637e-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": 6.01048986936803e-06, + "observation_loss": 5.789689112134511e-06, + "chamfer": 4.756700491270749e-06, + "track": 1.032988507176924e-06, + "acceleration": 2.2080054407069838e-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": 5.821256308990996e-06, + "observation_loss": 5.720703939005034e-06, + "chamfer": 4.705977062258171e-06, + "track": 1.0147267630600254e-06, + "acceleration": 1.0055249788365472e-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": 5.916608643019572e-06, + "observation_loss": 5.8091873142984696e-06, + "chamfer": 4.773869477503467e-06, + "track": 1.03531795048184e-06, + "acceleration": 1.0742147082964948e-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": 6.112386927270563e-06, + "observation_loss": 6.0036536524421535e-06, + "chamfer": 4.927853751723887e-06, + "track": 1.0758000144051039e-06, + "acceleration": 1.0873336719896542e-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": 6.3645929913036525e-06, + "observation_loss": 6.245400072657503e-06, + "chamfer": 5.106239314045524e-06, + "track": 1.1391608722988167e-06, + "acceleration": 1.1919284759187576e-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": 6.547794328071177e-06, + "observation_loss": 6.440683137043379e-06, + "chamfer": 5.258596047497122e-06, + "track": 1.1820872032330954e-06, + "acceleration": 1.0711132603091755e-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": 6.899602794874227e-06, + "observation_loss": 6.72592159389751e-06, + "chamfer": 5.471909844345646e-06, + "track": 1.254011863238702e-06, + "acceleration": 1.7368111571158806e-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": 7.067510068736738e-06, + "observation_loss": 7.003097834967775e-06, + "chamfer": 5.678536581399385e-06, + "track": 1.3245613672552281e-06, + "acceleration": 6.44123048232359e-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": 7.425259809679119e-06, + "observation_loss": 7.065770205372246e-06, + "chamfer": 5.738068011851283e-06, + "track": 1.3277021935209632e-06, + "acceleration": 3.594894053549069e-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": 7.083549462549854e-06, + "observation_loss": 6.922860848135315e-06, + "chamfer": 5.648805199598428e-06, + "track": 1.2740554211632116e-06, + "acceleration": 1.606884296734279e-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": 7.097678007994546e-06, + "observation_loss": 6.912836397532374e-06, + "chamfer": 5.644547854899429e-06, + "track": 1.2682883152592694e-06, + "acceleration": 1.8484169572730025e-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": 7.4663521445472725e-06, + "observation_loss": 7.201669177447911e-06, + "chamfer": 5.859094926563557e-06, + "track": 1.3425740235106787e-06, + "acceleration": 2.6468282499081397e-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": 7.7290687841014e-06, + "observation_loss": 7.539556008850923e-06, + "chamfer": 6.096444394643186e-06, + "track": 1.4431117278945749e-06, + "acceleration": 1.8951287472646072e-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": 7.762739187455736e-06, + "observation_loss": 7.675332199141849e-06, + "chamfer": 6.175423095555743e-06, + "track": 1.4999094446466188e-06, + "acceleration": 8.74067325185024e-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": 7.847083907108754e-06, + "observation_loss": 7.800337698427029e-06, + "chamfer": 6.257364930206677e-06, + "track": 1.5429728819071897e-06, + "acceleration": 4.674648934610559e-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": 7.930551873869263e-06, + "observation_loss": 7.85579231887823e-06, + "chamfer": 6.291179943218594e-06, + "track": 1.564612489346473e-06, + "acceleration": 7.475945551504992e-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": 7.97185111878207e-06, + "observation_loss": 7.866875421314035e-06, + "chamfer": 6.298864718701225e-06, + "track": 1.5680107026128098e-06, + "acceleration": 1.049758182603e-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": 8.100953891698737e-06, + "observation_loss": 7.893823749327566e-06, + "chamfer": 6.315398877632106e-06, + "track": 1.5784248716954608e-06, + "acceleration": 2.0713038395570038e-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": 8.40499978949083e-06, + "observation_loss": 8.267280463769566e-06, + "chamfer": 6.574606231879443e-06, + "track": 1.6926741182032856e-06, + "acceleration": 1.3771946782981104e-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": 8.984435226011556e-06, + "observation_loss": 8.90219962457195e-06, + "chamfer": 7.0019755185057875e-06, + "track": 1.9002237650056486e-06, + "acceleration": 8.223531011708474e-08, + "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": 9.645863428886514e-06, + "observation_loss": 9.376200978294946e-06, + "chamfer": 7.325239494093694e-06, + "track": 2.050961256827577e-06, + "acceleration": 2.696626495435339e-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": 9.403120202478021e-06, + "observation_loss": 9.244045031664427e-06, + "chamfer": 7.241356343001826e-06, + "track": 2.002688461288926e-06, + "acceleration": 1.590752560787223e-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": 9.139114808931481e-06, + "observation_loss": 8.93958167580422e-06, + "chamfer": 7.052984983602073e-06, + "track": 1.8865970332626603e-06, + "acceleration": 1.9953296259700437e-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": 8.733582035347354e-06, + "observation_loss": 8.683908163220622e-06, + "chamfer": 6.883844889671309e-06, + "track": 1.8000632735493127e-06, + "acceleration": 4.9674035551561246e-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": 8.534490007150453e-06, + "observation_loss": 8.480587894155178e-06, + "chamfer": 6.740622666256968e-06, + "track": 1.739965341585048e-06, + "acceleration": 5.390215562783851e-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": 8.501388947479427e-06, + "observation_loss": 8.439112207270227e-06, + "chamfer": 6.70448889650288e-06, + "track": 1.734623310767347e-06, + "acceleration": 6.227659099522498e-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": 8.567111763113644e-06, + "observation_loss": 8.495548172504641e-06, + "chamfer": 6.739790478604846e-06, + "track": 1.7557576938997954e-06, + "acceleration": 7.156327086477177e-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": 8.597120540798642e-06, + "observation_loss": 8.543477633793373e-06, + "chamfer": 6.771978405595291e-06, + "track": 1.7714991145112435e-06, + "acceleration": 5.364308464095302e-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": 8.755703674978577e-06, + "observation_loss": 8.578516826673876e-06, + "chamfer": 6.778542228857987e-06, + "track": 1.7999742567553767e-06, + "acceleration": 1.7718704725666612e-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": 8.987061846710276e-06, + "observation_loss": 8.637921382614877e-06, + "chamfer": 6.8200015448383056e-06, + "track": 1.8179194967160583e-06, + "acceleration": 3.491407483124931e-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": 9.487564057053532e-06, + "observation_loss": 8.74737997946795e-06, + "chamfer": 6.87839747115504e-06, + "track": 1.8689829630602617e-06, + "acceleration": 7.401841912724194e-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": 9.94671427179128e-06, + "observation_loss": 8.898779014998581e-06, + "chamfer": 6.986725111346459e-06, + "track": 1.912053676278447e-06, + "acceleration": 1.0479350294190226e-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": 9.588105058355723e-06, + "observation_loss": 9.036999472300522e-06, + "chamfer": 7.085022389219375e-06, + "track": 1.9519775378284976e-06, + "acceleration": 5.511059839591326e-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": 9.503351975581609e-06, + "observation_loss": 9.308573680755217e-06, + "chamfer": 7.272483344422653e-06, + "track": 2.036090108958888e-06, + "acceleration": 1.947784085132298e-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": 9.799518920772243e-06, + "observation_loss": 9.661498552304693e-06, + "chamfer": 7.49618629924953e-06, + "track": 2.1653120256814873e-06, + "acceleration": 1.380205389978073e-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": 1.0177803233091254e-05, + "observation_loss": 1.0116664270753972e-05, + "chamfer": 7.79377205617493e-06, + "track": 2.322892214579042e-06, + "acceleration": 6.113857153877689e-08, + "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": 1.037855508911889e-05, + "observation_loss": 1.0326469237043057e-05, + "chamfer": 7.924431884021033e-06, + "track": 2.4020375803956995e-06, + "acceleration": 5.208620734720171e-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": 1.0675852536223829e-05, + "observation_loss": 1.0450624358782079e-05, + "chamfer": 7.99435656517744e-06, + "track": 2.456268020978314e-06, + "acceleration": 2.252282484960233e-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": 1.0694872798922006e-05, + "observation_loss": 1.0553654647083022e-05, + "chamfer": 8.029997843550518e-06, + "track": 2.523657030906179e-06, + "acceleration": 1.4121813762812963e-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": 1.0682182619348168e-05, + "observation_loss": 1.0594105333439074e-05, + "chamfer": 8.035720384214073e-06, + "track": 2.558384949225001e-06, + "acceleration": 8.807773355101745e-08, + "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": 1.0739719982666429e-05, + "observation_loss": 1.0480766832188237e-05, + "chamfer": 7.959417416714132e-06, + "track": 2.52134918810043e-06, + "acceleration": 2.5895351996041427e-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": 1.0920781278400682e-05, + "observation_loss": 1.026961126626702e-05, + "chamfer": 7.83050199970603e-06, + "track": 2.439109493934666e-06, + "acceleration": 6.511697279165674e-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": 1.0621914043440484e-05, + "observation_loss": 1.0212222150585148e-05, + "chamfer": 7.787423783156555e-06, + "track": 2.424798140054918e-06, + "acceleration": 4.096923476026859e-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": 1.0704895430535544e-05, + "observation_loss": 1.0167773325520102e-05, + "chamfer": 7.753501449769828e-06, + "track": 2.414271648376598e-06, + "acceleration": 5.371222755456984e-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": 1.2427690307958983e-05, + "observation_loss": 1.0016725354944356e-05, + "chamfer": 7.635277142981067e-06, + "track": 2.3814477572159376e-06, + "acceleration": 2.4109651803883025e-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": 1.1510782314871904e-05, + "observation_loss": 1.0097930498886853e-05, + "chamfer": 7.706749784119893e-06, + "track": 2.391180942140636e-06, + "acceleration": 1.4128517022982123e-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": 1.0542599738982972e-05, + "observation_loss": 1.0179056516790297e-05, + "chamfer": 7.759244908811525e-06, + "track": 2.4198116079787724e-06, + "acceleration": 3.635436200966069e-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": 1.0546427802182734e-05, + "observation_loss": 1.0194205970037729e-05, + "chamfer": 7.735842700640205e-06, + "track": 2.4583632693975233e-06, + "acceleration": 3.522218889884243e-07, + "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": 1.0512134394957684e-05, + "observation_loss": 1.024080120259896e-05, + "chamfer": 7.743667083559558e-06, + "track": 2.4971341190394014e-06, + "acceleration": 2.7133361868436623e-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": 1.0786177881527692e-05, + "observation_loss": 1.0532799024076667e-05, + "chamfer": 7.889635526225902e-06, + "track": 2.64316372522444e-06, + "acceleration": 2.5337880060760654e-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": 1.1035277566406876e-05, + "observation_loss": 1.084268751583295e-05, + "chamfer": 8.04018691269448e-06, + "track": 2.8025003757647937e-06, + "acceleration": 1.9259006478478113e-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": 1.1377811460988596e-05, + "observation_loss": 1.120371507568052e-05, + "chamfer": 8.236980647780001e-06, + "track": 2.9667342005268438e-06, + "acceleration": 1.7409666952517e-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": 1.1557285688468255e-05, + "observation_loss": 1.1401923075027298e-05, + "chamfer": 8.339411579072475e-06, + "track": 3.0625112685811473e-06, + "acceleration": 1.5536265607352107e-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": 1.1831288247776683e-05, + "observation_loss": 1.1598324817896355e-05, + "chamfer": 8.46349121275125e-06, + "track": 3.1348336051451042e-06, + "acceleration": 2.3296378515169636e-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": 1.2067323950759601e-05, + "observation_loss": 1.1913830348930787e-05, + "chamfer": 8.66142272570869e-06, + "track": 3.252407850595773e-06, + "acceleration": 1.5349347393112112e-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": 1.227297616424039e-05, + "observation_loss": 1.2189633707748726e-05, + "chamfer": 8.824104952509515e-06, + "track": 3.365528755239211e-06, + "acceleration": 8.33423143831169e-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": 1.237792366737267e-05, + "observation_loss": 1.2311370483075734e-05, + "chamfer": 8.882087058736943e-06, + "track": 3.4292834243387915e-06, + "acceleration": 6.655309192638015e-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": 1.245736530108843e-05, + "observation_loss": 1.2388904906401876e-05, + "chamfer": 8.936686754168477e-06, + "track": 3.4522181522333995e-06, + "acceleration": 6.846077837963094e-08, + "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": 1.2478883036237676e-05, + "observation_loss": 1.2409363080223557e-05, + "chamfer": 8.925548172555864e-06, + "track": 3.4838146802940173e-06, + "acceleration": 6.951997733040116e-08, + "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": 1.247193449671613e-05, + "observation_loss": 1.242845337401377e-05, + "chamfer": 8.915509170037694e-06, + "track": 3.5129439766024007e-06, + "acceleration": 4.348098769924036e-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": 1.2543936463771388e-05, + "observation_loss": 1.2404539120325353e-05, + "chamfer": 8.902159606805071e-06, + "track": 3.502379740893957e-06, + "acceleration": 1.3939704501808592e-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": 1.2522672477643937e-05, + "observation_loss": 1.2391697964631021e-05, + "chamfer": 8.89564398676157e-06, + "track": 3.496053977869451e-06, + "acceleration": 1.3097488249513844e-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": 1.2381061424093787e-05, + "observation_loss": 1.2368984243948944e-05, + "chamfer": 8.865975360095035e-06, + "track": 3.5030084291065577e-06, + "acceleration": 1.20775762724179e-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": 1.2413964213919826e-05, + "observation_loss": 1.234712908626534e-05, + "chamfer": 8.841693670547102e-06, + "track": 3.5054351883445634e-06, + "acceleration": 6.683553976927215e-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": 1.248333319381345e-05, + "observation_loss": 1.2340215107542463e-05, + "chamfer": 8.82961194292875e-06, + "track": 3.5106031646137126e-06, + "acceleration": 1.4311851259662944e-07, + "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": 1.2370494005153887e-05, + "observation_loss": 1.2248236089362763e-05, + "chamfer": 8.777346920396667e-06, + "track": 3.4708893963397713e-06, + "acceleration": 1.2225748946548265e-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": 1.2139278624090366e-05, + "observation_loss": 1.2102395885449369e-05, + "chamfer": 8.702854756847955e-06, + "track": 3.3995413559750887e-06, + "acceleration": 3.688258587430937e-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": 9.21034561685019e-06, + "chamfer_mean": 6.3466962482531626e-06, + "track_mean": 1.8199171716304363e-06, + "acceleration_mean": 1.0437322335854482e-06, + "observation_score": 8.166613433502334e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4160112999998091 + }, + "score_arrays_file": "pass_scores/pass_end_0163.npz", + "score_arrays_sha256": "99db2d8c54d4a92155358b79b550f09f73f256a098ca1de89651c4bd721fb7e9" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0164.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0164.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc8c79ed2cb9997de02fa8cb62cc932a2fde2a3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0164.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15744, + "completed_passes": 164, + "snapshot": "pass_end_0164", + "candidate": true, + "snapshot_arrays_sha256": "0bca73d6d51094818c235cfa3fffc86a039c9b8d040cbc2ad72315f3020cead7", + "score": 8.151270764737243e-06, + "score_result": { + "score": 8.151270764737243e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9491097848222125e-06, + 3.2456625831400743e-06, + 3.5836415008816402e-06, + 4.231161710777087e-06, + 4.985152372682933e-06, + 5.340132247511065e-06, + 5.2957580010115635e-06, + 5.191603122511879e-06, + 5.044430963607738e-06, + 5.036475158703979e-06, + 5.268340373731917e-06, + 5.511943527380936e-06, + 5.746122042182833e-06, + 5.894709829590283e-06, + 5.925732239120407e-06, + 6.031251359672751e-06, + 5.890025931876153e-06, + 5.629514816973824e-06, + 5.459730346046854e-06, + 5.381241862778552e-06, + 5.328488896338968e-06, + 5.182017503102543e-06, + 4.975569027010351e-06, + 4.901353349850979e-06, + 5.016159320803126e-06, + 5.280979621602455e-06, + 5.569609129452147e-06, + 5.760982276115101e-06, + 5.806229182780953e-06, + 5.774956207460491e-06, + 5.707397576770745e-06, + 5.79679863221827e-06, + 5.992560545564629e-06, + 6.232125997485127e-06, + 6.424327239074046e-06, + 6.70614554110216e-06, + 6.983388630033005e-06, + 7.0470591708726715e-06, + 6.9017223722767085e-06, + 6.886023584229406e-06, + 7.171827292040689e-06, + 7.50930848880671e-06, + 7.645327059435658e-06, + 7.769694093440194e-06, + 7.825570719433017e-06, + 7.83698123996146e-06, + 7.864763574616518e-06, + 8.239554517786019e-06, + 8.874721061147284e-06, + 9.347941158921458e-06, + 9.216318176186178e-06, + 8.912166777008679e-06, + 8.656091267766897e-06, + 8.452592737739906e-06, + 8.411416274611838e-06, + 8.468407941109035e-06, + 8.517376045347191e-06, + 8.553196494176518e-06, + 8.613194040663075e-06, + 8.723206519789528e-06, + 8.87473925104132e-06, + 9.014394890982658e-06, + 9.287438842875417e-06, + 9.642451914260164e-06, + 1.0099691280629486e-05, + 1.0312478480045684e-05, + 1.043979591486277e-05, + 1.054628228303045e-05, + 1.058881935023237e-05, + 1.0476611350895837e-05, + 1.026639984047506e-05, + 1.0210024811385665e-05, + 1.0168186236114707e-05, + 1.0011524864239618e-05, + 1.009742118185386e-05, + 1.017858630802948e-05, + 1.019204228214221e-05, + 1.023675940814428e-05, + 1.0528399798204191e-05, + 1.0838175512617454e-05, + 1.1199867003597319e-05, + 1.1400433322705794e-05, + 1.1594804163905792e-05, + 1.1906709914910607e-05, + 1.2184224942757282e-05, + 1.2306883036217187e-05, + 1.2383954526740126e-05, + 1.2405060260789469e-05, + 1.2424576198100112e-05, + 1.2399989827827085e-05, + 1.238733693753602e-05, + 1.2364806025288999e-05, + 1.2343543858150952e-05, + 1.233744842465967e-05, + 1.2247241102159023e-05, + 1.209960100823082e-05 + ] + ], + "episode_mean_losses": [ + 8.151270764737243e-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": 2.9491097848222125e-06, + "observation_loss": 2.9491097848222125e-06, + "chamfer": 2.501479912098148e-06, + "track": 4.476297590372269e-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": 4.2628995288396254e-05, + "observation_loss": 3.2456625831400743e-06, + "chamfer": 2.7457251690066187e-06, + "track": 4.999374141334556e-07, + "acceleration": 3.9383332477882504e-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": 2.5438586817472242e-05, + "observation_loss": 3.5836415008816402e-06, + "chamfer": 3.0284770673461026e-06, + "track": 5.551644903789565e-07, + "acceleration": 2.185494486184325e-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": 1.194568358187098e-05, + "observation_loss": 4.231161710777087e-06, + "chamfer": 3.5475784443406155e-06, + "track": 6.835833801233093e-07, + "acceleration": 7.714521416346543e-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": 9.478563697484788e-06, + "observation_loss": 4.985152372682933e-06, + "chamfer": 4.130218712816713e-06, + "track": 8.549335461793817e-07, + "acceleration": 4.493411324801855e-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": 6.928568836883642e-06, + "observation_loss": 5.340132247511065e-06, + "chamfer": 4.395586074679159e-06, + "track": 9.445460023016494e-07, + "acceleration": 1.5884365893725771e-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": 6.324530204437906e-06, + "observation_loss": 5.2957580010115635e-06, + "chamfer": 4.343532964412589e-06, + "track": 9.522249229121371e-07, + "acceleration": 1.0287722034263425e-06, + "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": 5.819639227411244e-06, + "observation_loss": 5.191603122511879e-06, + "chamfer": 4.258718945493456e-06, + "track": 9.328844043920981e-07, + "acceleration": 6.280359343691089e-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": 5.932473868597299e-06, + "observation_loss": 5.044430963607738e-06, + "chamfer": 4.148789685132215e-06, + "track": 8.956413353189419e-07, + "acceleration": 8.880429049895611e-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": 5.663621777785011e-06, + "observation_loss": 5.036475158703979e-06, + "chamfer": 4.153194822720252e-06, + "track": 8.832803359837271e-07, + "acceleration": 6.271463917073561e-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": 5.609081199509092e-06, + "observation_loss": 5.268340373731917e-06, + "chamfer": 4.356165391072864e-06, + "track": 9.121748121287965e-07, + "acceleration": 3.407409110423032e-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": 5.876915111002745e-06, + "observation_loss": 5.511943527380936e-06, + "chamfer": 4.55810732091777e-06, + "track": 9.538360927763279e-07, + "acceleration": 3.6497158362180926e-07, + "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": 5.948337729932973e-06, + "observation_loss": 5.746122042182833e-06, + "chamfer": 4.760606316267513e-06, + "track": 9.85515839602158e-07, + "acceleration": 2.0221574459355907e-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": 6.226763616723474e-06, + "observation_loss": 5.894709829590283e-06, + "chamfer": 4.887313025392359e-06, + "track": 1.0073966905110865e-06, + "acceleration": 3.320537018680625e-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": 6.370186383719556e-06, + "observation_loss": 5.925732239120407e-06, + "chamfer": 4.918081231153337e-06, + "track": 1.0076510079670697e-06, + "acceleration": 4.44454343551115e-07, + "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": 6.287638370849891e-06, + "observation_loss": 6.031251359672751e-06, + "chamfer": 5.005601451557595e-06, + "track": 1.0256500218019937e-06, + "acceleration": 2.563871248639771e-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": 6.113962172094034e-06, + "observation_loss": 5.890025931876153e-06, + "chamfer": 4.889070623903535e-06, + "track": 1.0009553079726174e-06, + "acceleration": 2.2393638232642843e-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": 5.987802069284953e-06, + "observation_loss": 5.629514816973824e-06, + "chamfer": 4.679130597651238e-06, + "track": 9.503840487923298e-07, + "acceleration": 3.5828728073283855e-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": 5.655302629747894e-06, + "observation_loss": 5.459730346046854e-06, + "chamfer": 4.5443398448696826e-06, + "track": 9.15390614864009e-07, + "acceleration": 1.9557225527933042e-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": 5.535526270250557e-06, + "observation_loss": 5.381241862778552e-06, + "chamfer": 4.48044056611252e-06, + "track": 9.008013535094506e-07, + "acceleration": 1.5428456379140698e-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": 5.567113021243131e-06, + "observation_loss": 5.328488896338968e-06, + "chamfer": 4.438294581632363e-06, + "track": 8.901941441763483e-07, + "acceleration": 2.386240396390349e-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": 5.467883056553546e-06, + "observation_loss": 5.182017503102543e-06, + "chamfer": 4.322111635701731e-06, + "track": 8.599060379310686e-07, + "acceleration": 2.8586532607732806e-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": 5.166643859411124e-06, + "observation_loss": 4.975569027010351e-06, + "chamfer": 4.157274815952405e-06, + "track": 8.182943247447838e-07, + "acceleration": 1.9107466187051614e-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": 5.052036158303963e-06, + "observation_loss": 4.901353349850979e-06, + "chamfer": 4.0907339098339435e-06, + "track": 8.106196673907107e-07, + "acceleration": 1.506826095010183e-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": 5.172689270693809e-06, + "observation_loss": 5.016159320803126e-06, + "chamfer": 4.168638497503707e-06, + "track": 8.475207096125814e-07, + "acceleration": 1.5652992146897304e-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": 5.606452759820968e-06, + "observation_loss": 5.280979621602455e-06, + "chamfer": 4.363317657407606e-06, + "track": 9.176618505080114e-07, + "acceleration": 3.2547310979680333e-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": 5.956570930720773e-06, + "observation_loss": 5.569609129452147e-06, + "chamfer": 4.574005288304761e-06, + "track": 9.956037274605478e-07, + "acceleration": 3.869616307383694e-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": 6.050807769497624e-06, + "observation_loss": 5.760982276115101e-06, + "chamfer": 4.721349341707537e-06, + "track": 1.0396330480944016e-06, + "acceleration": 2.8982557864765113e-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": 6.365201443259139e-06, + "observation_loss": 5.806229182780953e-06, + "chamfer": 4.764646291732788e-06, + "track": 1.0415827773613273e-06, + "acceleration": 5.5897203310451e-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": 5.9978660829074215e-06, + "observation_loss": 5.774956207460491e-06, + "chamfer": 4.744778834719909e-06, + "track": 1.0301773727405816e-06, + "acceleration": 2.2291001755547768e-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": 5.809451067761984e-06, + "observation_loss": 5.707397576770745e-06, + "chamfer": 4.695158622780582e-06, + "track": 1.012239067677001e-06, + "acceleration": 1.0205364731064037e-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": 5.909609626542078e-06, + "observation_loss": 5.79679863221827e-06, + "chamfer": 4.763719061884331e-06, + "track": 1.0330796840207768e-06, + "acceleration": 1.1281087353154362e-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": 6.101479357312201e-06, + "observation_loss": 5.992560545564629e-06, + "chamfer": 4.918839294987265e-06, + "track": 1.0737213642642018e-06, + "acceleration": 1.0891900359411011e-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": 6.349790055537596e-06, + "observation_loss": 6.232125997485127e-06, + "chamfer": 5.095553206047043e-06, + "track": 1.1365729051249218e-06, + "acceleration": 1.1766417884473412e-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": 6.532101451739436e-06, + "observation_loss": 6.424327239074046e-06, + "chamfer": 5.245521606411785e-06, + "track": 1.178805632662261e-06, + "acceleration": 1.0777424819252701e-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": 6.879896318423562e-06, + "observation_loss": 6.70614554110216e-06, + "chamfer": 5.456051894725533e-06, + "track": 1.250093873750302e-06, + "acceleration": 1.7375062100200012e-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": 7.048559382383246e-06, + "observation_loss": 6.983388630033005e-06, + "chamfer": 5.662835064867977e-06, + "track": 1.3205534514781903e-06, + "acceleration": 6.517083761536924e-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": 7.407204066112172e-06, + "observation_loss": 7.0470591708726715e-06, + "chamfer": 5.723206413676962e-06, + "track": 1.323852870882547e-06, + "acceleration": 3.6014472470924375e-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": 7.063408247631742e-06, + "observation_loss": 6.9017223722767085e-06, + "chamfer": 5.632003194477875e-06, + "track": 1.2697191777988337e-06, + "acceleration": 1.6168566219221248e-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": 7.070727406244259e-06, + "observation_loss": 6.886023584229406e-06, + "chamfer": 5.623230663331924e-06, + "track": 1.2627931482711574e-06, + "acceleration": 1.847039499125458e-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": 7.437380645569647e-06, + "observation_loss": 7.171827292040689e-06, + "chamfer": 5.835850060975645e-06, + "track": 1.335977344751882e-06, + "acceleration": 2.655533535289578e-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": 7.698947229073383e-06, + "observation_loss": 7.50930848880671e-06, + "chamfer": 6.0730421864718664e-06, + "track": 1.4362661886480055e-06, + "acceleration": 1.8963906711633172e-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": 7.732142876193393e-06, + "observation_loss": 7.645327059435658e-06, + "chamfer": 6.152345576992957e-06, + "track": 1.4929814824427012e-06, + "acceleration": 8.68161791345301e-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": 7.817053301550914e-06, + "observation_loss": 7.769694093440194e-06, + "chamfer": 6.233862222870812e-06, + "track": 1.5358317568825441e-06, + "acceleration": 4.735934666655339e-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": 7.90072499512462e-06, + "observation_loss": 7.825570719433017e-06, + "chamfer": 6.268011929932982e-06, + "track": 1.5575583347526845e-06, + "acceleration": 7.515424016446559e-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": 7.942580850794911e-06, + "observation_loss": 7.83698123996146e-06, + "chamfer": 6.275902705965564e-06, + "track": 1.5610788750564097e-06, + "acceleration": 1.0559973873114359e-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": 8.071749107330106e-06, + "observation_loss": 7.864763574616518e-06, + "chamfer": 6.293040314631071e-06, + "track": 1.5717229189249338e-06, + "acceleration": 2.0698591640666564e-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": 8.377727681363467e-06, + "observation_loss": 8.239554517786019e-06, + "chamfer": 6.5535436988284346e-06, + "track": 1.6860105915839085e-06, + "acceleration": 1.3817344779454288e-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": 8.957506906881463e-06, + "observation_loss": 8.874721061147284e-06, + "chamfer": 6.981536898820195e-06, + "track": 1.8931838212665753e-06, + "acceleration": 8.278542651396492e-08, + "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": 9.617370778869372e-06, + "observation_loss": 9.347941158921458e-06, + "chamfer": 7.304393875529058e-06, + "track": 2.0435468286450487e-06, + "acceleration": 2.694298757432989e-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": 9.375678928336129e-06, + "observation_loss": 9.216318176186178e-06, + "chamfer": 7.220988663902972e-06, + "track": 1.9953292849095305e-06, + "acceleration": 1.5936099373448087e-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": 9.112237421504688e-06, + "observation_loss": 8.912166777008679e-06, + "chamfer": 7.032649591565132e-06, + "track": 1.8795171854435466e-06, + "acceleration": 2.0007063028515404e-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": 8.706079825060442e-06, + "observation_loss": 8.656091267766897e-06, + "chamfer": 6.8629869929281995e-06, + "track": 1.7931041611518594e-06, + "acceleration": 4.9988702954806286e-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": 8.506440281053074e-06, + "observation_loss": 8.452592737739906e-06, + "chamfer": 6.719453722325852e-06, + "track": 1.7331394701614045e-06, + "acceleration": 5.384798740237784e-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": 8.473373782180715e-06, + "observation_loss": 8.411416274611838e-06, + "chamfer": 6.683590981992893e-06, + "track": 1.7278252926189452e-06, + "acceleration": 6.195769230998849e-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": 8.538801921531558e-06, + "observation_loss": 8.468407941109035e-06, + "chamfer": 6.719489647366572e-06, + "track": 1.7489185211161384e-06, + "acceleration": 7.039363225658235e-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": 8.567831173422746e-06, + "observation_loss": 8.517376045347191e-06, + "chamfer": 6.752597528247861e-06, + "track": 1.7647788581598434e-06, + "acceleration": 5.045524176239269e-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": 8.730761692277156e-06, + "observation_loss": 8.553196494176518e-06, + "chamfer": 6.759950792911695e-06, + "track": 1.7932457012648229e-06, + "acceleration": 1.7756546810687723e-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": 8.964156222646125e-06, + "observation_loss": 8.613194040663075e-06, + "chamfer": 6.802056304877624e-06, + "track": 1.8111377357854508e-06, + "acceleration": 3.5096235251330654e-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": 9.464769391342998e-06, + "observation_loss": 8.723206519789528e-06, + "chamfer": 6.861099791422021e-06, + "track": 1.8621068420543452e-06, + "acceleration": 7.415624168061186e-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": 9.926407074090093e-06, + "observation_loss": 8.87473925104132e-06, + "chamfer": 6.969683454371989e-06, + "track": 1.9050561377298436e-06, + "acceleration": 1.051667481988261e-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": 9.569668691256084e-06, + "observation_loss": 9.014394890982658e-06, + "chamfer": 7.069192179187667e-06, + "track": 1.9452024844213156e-06, + "acceleration": 5.55273345526075e-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": 9.484879228693899e-06, + "observation_loss": 9.287438842875417e-06, + "chamfer": 7.257584002218209e-06, + "track": 2.0298550680308836e-06, + "acceleration": 1.9744082635497762e-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": 9.781975677469745e-06, + "observation_loss": 9.642451914260164e-06, + "chamfer": 7.482773526135134e-06, + "track": 2.1596783881250303e-06, + "acceleration": 1.3952370636616251e-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": 1.0160994861507788e-05, + "observation_loss": 1.0099691280629486e-05, + "chamfer": 7.781746717228089e-06, + "track": 2.317944336027722e-06, + "acceleration": 6.130392904424298e-08, + "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": 1.0365366506448481e-05, + "observation_loss": 1.0312478480045684e-05, + "chamfer": 7.914607522252481e-06, + "track": 2.397870730419527e-06, + "acceleration": 5.2888193380340454e-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": 1.0666729394870345e-05, + "observation_loss": 1.043979591486277e-05, + "chamfer": 7.986854143382516e-06, + "track": 2.4529419988539303e-06, + "acceleration": 2.26933877911506e-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": 1.0689092960092239e-05, + "observation_loss": 1.054628228303045e-05, + "chamfer": 8.024820999708027e-06, + "track": 2.5214617380697746e-06, + "acceleration": 1.4281076232691703e-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": 1.0677442332962528e-05, + "observation_loss": 1.058881935023237e-05, + "chamfer": 8.032072400965262e-06, + "track": 2.5567471766407834e-06, + "acceleration": 8.862254929908886e-08, + "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": 1.0735499017755501e-05, + "observation_loss": 1.0476611350895837e-05, + "chamfer": 7.956380613904912e-06, + "track": 2.520230736990925e-06, + "acceleration": 2.588880079201772e-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": 1.0918314728769474e-05, + "observation_loss": 1.026639984047506e-05, + "chamfer": 7.828282832633704e-06, + "track": 2.438117007841356e-06, + "acceleration": 6.519150019812514e-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": 1.0619950444379356e-05, + "observation_loss": 1.0210024811385665e-05, + "chamfer": 7.785998604958877e-06, + "track": 2.424026206426788e-06, + "acceleration": 4.0992532035488694e-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": 1.0761517842183821e-05, + "observation_loss": 1.0168186236114707e-05, + "chamfer": 7.754167199891526e-06, + "track": 2.414019263596856e-06, + "acceleration": 5.93331208165182e-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": 1.2668189810938202e-05, + "observation_loss": 1.0011524864239618e-05, + "chamfer": 7.63168736739317e-06, + "track": 2.379837724220124e-06, + "acceleration": 2.656665174072259e-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": 1.1655133675958496e-05, + "observation_loss": 1.009742118185386e-05, + "chamfer": 7.706381438765675e-06, + "track": 2.391039288340835e-06, + "acceleration": 1.557712494104635e-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": 1.0593862498353701e-05, + "observation_loss": 1.017858630802948e-05, + "chamfer": 7.759178515698295e-06, + "track": 2.419408247078536e-06, + "acceleration": 4.1527641769789625e-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": 1.0558045687503181e-05, + "observation_loss": 1.019204228214221e-05, + "chamfer": 7.734647624602076e-06, + "track": 2.4573944301664596e-06, + "acceleration": 3.660037179997744e-07, + "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": 1.050922401191201e-05, + "observation_loss": 1.023675940814428e-05, + "chamfer": 7.741450644971337e-06, + "track": 2.495309217920294e-06, + "acceleration": 2.7246420586379827e-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": 1.0785483027575538e-05, + "observation_loss": 1.0528399798204191e-05, + "chamfer": 7.887637366366107e-06, + "track": 2.6407622044644086e-06, + "acceleration": 2.5708362727527856e-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": 1.1031725989596453e-05, + "observation_loss": 1.0838175512617454e-05, + "chamfer": 8.038581654545851e-06, + "track": 2.7995943128189538e-06, + "acceleration": 1.9355051961156278e-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": 1.138150219048839e-05, + "observation_loss": 1.1199867003597319e-05, + "chamfer": 8.235141649493016e-06, + "track": 2.964724899356952e-06, + "acceleration": 1.816349026739772e-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": 1.1563432053662837e-05, + "observation_loss": 1.1400433322705794e-05, + "chamfer": 8.339571650139987e-06, + "track": 3.0608616725658067e-06, + "acceleration": 1.6299914307182917e-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": 1.1823288332379889e-05, + "observation_loss": 1.1594804163905792e-05, + "chamfer": 8.462489859084599e-06, + "track": 3.1323145321948687e-06, + "acceleration": 2.284839837329855e-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": 1.2054214494128246e-05, + "observation_loss": 1.1906709914910607e-05, + "chamfer": 8.657747457618825e-06, + "track": 3.2489626846654573e-06, + "acceleration": 1.4750452237421996e-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": 1.2267951206013095e-05, + "observation_loss": 1.2184224942757282e-05, + "chamfer": 8.821841220196802e-06, + "track": 3.3623837225604802e-06, + "acceleration": 8.372661852718011e-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": 1.2372016499284655e-05, + "observation_loss": 1.2306883036217187e-05, + "chamfer": 8.880477253114805e-06, + "track": 3.4264060104760574e-06, + "acceleration": 6.513385386597292e-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": 1.2452202099666465e-05, + "observation_loss": 1.2383954526740126e-05, + "chamfer": 8.934771358326543e-06, + "track": 3.4491829410399077e-06, + "acceleration": 6.824715370612466e-08, + "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": 1.24753041745862e-05, + "observation_loss": 1.2405060260789469e-05, + "chamfer": 8.924211215344258e-06, + "track": 3.480849500192562e-06, + "acceleration": 7.024429038438029e-08, + "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": 1.2467810847738292e-05, + "observation_loss": 1.2424576198100112e-05, + "chamfer": 8.91452236828627e-06, + "track": 3.5100542845611926e-06, + "acceleration": 4.3234514635059895e-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": 1.2538846021925565e-05, + "observation_loss": 1.2399989827827085e-05, + "chamfer": 8.900698048819322e-06, + "track": 3.4992917790077627e-06, + "acceleration": 1.388561514659159e-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": 1.2518042240117211e-05, + "observation_loss": 1.238733693753602e-05, + "chamfer": 8.894241545931436e-06, + "track": 3.4930951642309083e-06, + "acceleration": 1.307052315269175e-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": 1.2376987797324546e-05, + "observation_loss": 1.2364806025288999e-05, + "chamfer": 8.864476512826513e-06, + "track": 3.500329739836161e-06, + "acceleration": 1.2182034936358832e-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": 1.2410147974151187e-05, + "observation_loss": 1.2343543858150952e-05, + "chamfer": 8.840727787173819e-06, + "track": 3.502815616229782e-06, + "acceleration": 6.660412310566244e-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": 1.2479671568144113e-05, + "observation_loss": 1.233744842465967e-05, + "chamfer": 8.829233593132813e-06, + "track": 3.508214831526857e-06, + "acceleration": 1.4222273136965669e-07, + "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": 1.2370132026262581e-05, + "observation_loss": 1.2247241102159023e-05, + "chamfer": 8.778029950917698e-06, + "track": 3.4692116059886757e-06, + "acceleration": 1.228907819950109e-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": 1.2140670150984079e-05, + "observation_loss": 1.209960100823082e-05, + "chamfer": 8.70261646923609e-06, + "track": 3.3969849937420804e-06, + "acceleration": 4.1069473155630476e-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": 9.199393938767267e-06, + "chamfer_mean": 6.335461961270994e-06, + "track_mean": 1.8158088342564345e-06, + "acceleration_mean": 1.0481231902022732e-06, + "observation_score": 8.151270764737243e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.417535525999483 + }, + "score_arrays_file": "pass_scores/pass_end_0164.npz", + "score_arrays_sha256": "1a0e57b1537f234c8f4e7e80d2ded672f362220cd0110f3bea3ef6f980ad0a94" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0165.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0165.json new file mode 100644 index 0000000000000000000000000000000000000000..4a611b28451924016efef52311bfd02c232a3cc4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0165.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15840, + "completed_passes": 165, + "snapshot": "pass_end_0165", + "candidate": true, + "snapshot_arrays_sha256": "8304c481b16d28f1508daa55e6f50590cf8fbbe366939ccc16066bda5a6e7f64", + "score": 8.138670227234949e-06, + "score_result": { + "score": 8.138670227234949e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9489635835489025e-06, + 3.2435536923003383e-06, + 3.5792195376416203e-06, + 4.21894355895347e-06, + 4.967536824551644e-06, + 5.318700914358487e-06, + 5.272041107673431e-06, + 5.168025836610468e-06, + 5.021355264034355e-06, + 5.015802798880031e-06, + 5.250743015494663e-06, + 5.497488018590957e-06, + 5.731129931518808e-06, + 5.879376203665743e-06, + 5.907672857574653e-06, + 6.010849574522581e-06, + 5.870123459317256e-06, + 5.6114172366505954e-06, + 5.442874225991545e-06, + 5.363122909329832e-06, + 5.308093932399061e-06, + 5.1612073548312765e-06, + 4.9578970902075525e-06, + 4.884693680651253e-06, + 4.997660653316416e-06, + 5.258630153548438e-06, + 5.547118234972004e-06, + 5.739853804698214e-06, + 5.78413801122224e-06, + 5.758707629865967e-06, + 5.6937265071610454e-06, + 5.783721462648828e-06, + 5.980948117212392e-06, + 6.219034276000457e-06, + 6.407923137885518e-06, + 6.686469532724004e-06, + 6.9636043917853385e-06, + 7.028724667179631e-06, + 6.880247383378446e-06, + 6.857850166852586e-06, + 7.139759418350877e-06, + 7.476363407477038e-06, + 7.612687568325782e-06, + 7.735651706752833e-06, + 7.79208949097665e-06, + 7.804006600053981e-06, + 7.833469680917915e-06, + 8.209359293687157e-06, + 8.843209798214957e-06, + 9.315194802184124e-06, + 9.18605837796349e-06, + 8.884131602826528e-06, + 8.629438525531441e-06, + 8.427667125943117e-06, + 8.387715752178337e-06, + 8.446304491371848e-06, + 8.496828741044737e-06, + 8.533320396963973e-06, + 8.593720849603415e-06, + 8.704263564141002e-06, + 8.855749911163002e-06, + 8.996437827590853e-06, + 9.270047485188115e-06, + 9.626743121771142e-06, + 1.0085141184390523e-05, + 1.0301876500307117e-05, + 1.0433477655169554e-05, + 1.0543425560172182e-05, + 1.0588489203655627e-05, + 1.04779774119379e-05, + 1.0269253834849223e-05, + 1.0215017937298398e-05, + 1.0176147952734027e-05, + 1.0016819032898638e-05, + 1.0108788046636619e-05, + 1.019085175357759e-05, + 1.0202624252997339e-05, + 1.0244537406833842e-05, + 1.0534523426031228e-05, + 1.0843163181561977e-05, + 1.1204589100088924e-05, + 1.1406278645154089e-05, + 1.1599424396990798e-05, + 1.1908356100320816e-05, + 1.2187274478492327e-05, + 1.2310565580264665e-05, + 1.2386959497234784e-05, + 1.2408500879246276e-05, + 1.2427995898178779e-05, + 1.2403871551214252e-05, + 1.2391934433253482e-05, + 1.2369383512123022e-05, + 1.2348174095677678e-05, + 1.2343303751549684e-05, + 1.225659616466146e-05, + 1.2107609109079931e-05 + ] + ], + "episode_mean_losses": [ + 8.138670227234949e-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": 2.9489635835489025e-06, + "observation_loss": 2.9489635835489025e-06, + "chamfer": 2.501363951523672e-06, + "track": 4.475996320252307e-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": 4.258370245224796e-05, + "observation_loss": 3.2435536923003383e-06, + "chamfer": 2.743937557170284e-06, + "track": 4.996160214432166e-07, + "acceleration": 3.9340149669442326e-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": 2.539474007789977e-05, + "observation_loss": 3.5792195376416203e-06, + "chamfer": 3.02485409520159e-06, + "track": 5.543653287531924e-07, + "acceleration": 2.1815520085510798e-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": 1.1920392353204079e-05, + "observation_loss": 4.21894355895347e-06, + "chamfer": 3.5379664495849283e-06, + "track": 6.809769956817036e-07, + "acceleration": 7.701448339503258e-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": 9.463441529078409e-06, + "observation_loss": 4.967536824551644e-06, + "chamfer": 4.117139724257868e-06, + "track": 8.503969866069383e-07, + "acceleration": 4.495904249779414e-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": 6.905317604832817e-06, + "observation_loss": 5.318700914358487e-06, + "chamfer": 4.380367045087041e-06, + "track": 9.383338124280272e-07, + "acceleration": 1.5866165767874918e-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": 6.298338121268898e-06, + "observation_loss": 5.272041107673431e-06, + "chamfer": 4.327333954279311e-06, + "track": 9.447069828638632e-07, + "acceleration": 1.0262968999086297e-06, + "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": 5.7964307416114025e-06, + "observation_loss": 5.168025836610468e-06, + "chamfer": 4.242777777108131e-06, + "track": 9.252479458154994e-07, + "acceleration": 6.284049050009344e-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": 5.903290002606809e-06, + "observation_loss": 5.021355264034355e-06, + "chamfer": 4.132803496759152e-06, + "track": 8.885518809620407e-07, + "acceleration": 8.819345680421975e-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": 5.636077275994467e-06, + "observation_loss": 5.015802798880031e-06, + "chamfer": 4.138817075727275e-06, + "track": 8.769855526225001e-07, + "acceleration": 6.202743634275976e-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": 5.586737188423285e-06, + "observation_loss": 5.250743015494663e-06, + "chamfer": 4.344054559624055e-06, + "track": 9.066885127140267e-07, + "acceleration": 3.3599422977204085e-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": 5.851773948961636e-06, + "observation_loss": 5.497488018590957e-06, + "chamfer": 4.548340257315431e-06, + "track": 9.491475907452696e-07, + "acceleration": 3.5428584510555083e-07, + "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": 5.925799996475689e-06, + "observation_loss": 5.731129931518808e-06, + "chamfer": 4.750292191602057e-06, + "track": 9.808377399167512e-07, + "acceleration": 1.946699654808981e-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": 6.210742867551744e-06, + "observation_loss": 5.879376203665743e-06, + "chamfer": 4.876572802459123e-06, + "track": 1.0028032875197823e-06, + "acceleration": 3.3136649335574475e-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": 6.33552554063499e-06, + "observation_loss": 5.907672857574653e-06, + "chamfer": 4.9047666834667325e-06, + "track": 1.0029064014815958e-06, + "acceleration": 4.2785268306033686e-07, + "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": 6.254749223444378e-06, + "observation_loss": 6.010849574522581e-06, + "chamfer": 4.990185971109895e-06, + "track": 1.020663603412686e-06, + "acceleration": 2.438996773435065e-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": 6.0952356761845294e-06, + "observation_loss": 5.870123459317256e-06, + "chamfer": 4.873920261161402e-06, + "track": 9.962033118426916e-07, + "acceleration": 2.2511203212616238e-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": 5.968652203591773e-06, + "observation_loss": 5.6114172366505954e-06, + "chamfer": 4.6651043703604955e-06, + "track": 9.463128094466811e-07, + "acceleration": 3.5723513747143443e-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": 5.6395024330413435e-06, + "observation_loss": 5.442874225991545e-06, + "chamfer": 4.531023932941025e-06, + "track": 9.118504067373578e-07, + "acceleration": 1.9662822126065294e-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": 5.519170827028574e-06, + "observation_loss": 5.363122909329832e-06, + "chamfer": 4.465903202799382e-06, + "track": 8.972199339041254e-07, + "acceleration": 1.5604805980728997e-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": 5.54859889234649e-06, + "observation_loss": 5.308093932399061e-06, + "chamfer": 4.421907306095818e-06, + "track": 8.861864557729859e-07, + "acceleration": 2.4050493152572017e-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": 5.448189313028706e-06, + "observation_loss": 5.1612073548312765e-06, + "chamfer": 4.30524914918351e-06, + "track": 8.559582624911855e-07, + "acceleration": 2.8698204346255807e-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": 5.149360276845982e-06, + "observation_loss": 4.9578970902075525e-06, + "chamfer": 4.142871603107778e-06, + "track": 8.150256007866119e-07, + "acceleration": 1.9146308716244675e-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": 5.036391939938767e-06, + "observation_loss": 4.884693680651253e-06, + "chamfer": 4.077097401022911e-06, + "track": 8.075963364717609e-07, + "acceleration": 1.5169814560067607e-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": 5.156026873009978e-06, + "observation_loss": 4.997660653316416e-06, + "chamfer": 4.153738700551912e-06, + "track": 8.439218959210848e-07, + "acceleration": 1.5836614863928844e-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": 5.584822247328702e-06, + "observation_loss": 5.258630153548438e-06, + "chamfer": 4.345445631770417e-06, + "track": 9.131843512477644e-07, + "acceleration": 3.2619226431052084e-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": 5.933957709203241e-06, + "observation_loss": 5.547118234972004e-06, + "chamfer": 4.555931809591129e-06, + "track": 9.911863116940367e-07, + "acceleration": 3.8683927527927153e-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": 6.027322342561092e-06, + "observation_loss": 5.739853804698214e-06, + "chamfer": 4.7044168240972795e-06, + "track": 1.03543720797461e-06, + "acceleration": 2.874683673326217e-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": 6.345962447085185e-06, + "observation_loss": 5.78413801122224e-06, + "chamfer": 4.746828381030355e-06, + "track": 1.0373097438787227e-06, + "acceleration": 5.61824606393202e-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": 5.9824174059031066e-06, + "observation_loss": 5.758707629865967e-06, + "chamfer": 4.731587978312746e-06, + "track": 1.027119651553221e-06, + "acceleration": 2.2370959129602852e-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": 5.795230663352413e-06, + "observation_loss": 5.6937265071610454e-06, + "chamfer": 4.68396910946467e-06, + "track": 1.0097573976963758e-06, + "acceleration": 1.0150431961619688e-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": 5.9017106650571804e-06, + "observation_loss": 5.783721462648828e-06, + "chamfer": 4.753020675707376e-06, + "track": 1.0307010143151274e-06, + "acceleration": 1.1798898924553214e-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": 6.091299383115256e-06, + "observation_loss": 5.980948117212392e-06, + "chamfer": 4.909406470687827e-06, + "track": 1.0715416465245653e-06, + "acceleration": 1.1035110958346195e-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": 6.335728812700836e-06, + "observation_loss": 6.219034276000457e-06, + "chamfer": 5.085011252958793e-06, + "track": 1.1340230230416637e-06, + "acceleration": 1.1669462907093475e-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": 6.51599566481309e-06, + "observation_loss": 6.407923137885518e-06, + "chamfer": 5.23240714755957e-06, + "track": 1.1755157629522728e-06, + "acceleration": 1.0807242745158874e-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": 6.8601430029957555e-06, + "observation_loss": 6.686469532724004e-06, + "chamfer": 5.440258519229246e-06, + "track": 1.2462112408684334e-06, + "acceleration": 1.73673385006623e-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": 7.02885245118523e-06, + "observation_loss": 6.9636043917853385e-06, + "chamfer": 5.64703668715083e-06, + "track": 1.3165677046345081e-06, + "acceleration": 6.5247967029336e-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": 7.387966888927622e-06, + "observation_loss": 7.028724667179631e-06, + "chamfer": 5.708628123102244e-06, + "track": 1.3200964303905494e-06, + "acceleration": 3.592420227960247e-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": 7.041735898383195e-06, + "observation_loss": 6.880247383378446e-06, + "chamfer": 5.614846941170981e-06, + "track": 1.2654003285206272e-06, + "acceleration": 1.6148847237218433e-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": 7.042133347567869e-06, + "observation_loss": 6.857850166852586e-06, + "chamfer": 5.600791610049782e-06, + "track": 1.257058443115966e-06, + "acceleration": 1.8428318071528338e-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": 7.405576070595998e-06, + "observation_loss": 7.139759418350877e-06, + "chamfer": 5.8109058045374695e-06, + "track": 1.3288537275002454e-06, + "acceleration": 2.658165954017022e-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": 7.666942110517994e-06, + "observation_loss": 7.476363407477038e-06, + "chamfer": 6.047565875633154e-06, + "track": 1.4287976455307216e-06, + "acceleration": 1.9057831934787828e-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": 7.699559319007676e-06, + "observation_loss": 7.612687568325782e-06, + "chamfer": 6.127315828052815e-06, + "track": 1.4853718539598049e-06, + "acceleration": 8.687152330821846e-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": 7.78250705479877e-06, + "observation_loss": 7.735651706752833e-06, + "chamfer": 6.207787009770982e-06, + "track": 1.5278643559213378e-06, + "acceleration": 4.68555683141858e-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": 7.866495252528694e-06, + "observation_loss": 7.79208949097665e-06, + "chamfer": 6.242488780117128e-06, + "track": 1.5496009382331977e-06, + "acceleration": 7.440542759695745e-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": 7.909668056527153e-06, + "observation_loss": 7.804006600053981e-06, + "chamfer": 6.250630576687399e-06, + "track": 1.553376250740257e-06, + "acceleration": 1.0566155594915472e-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": 8.040475222514942e-06, + "observation_loss": 7.833469680917915e-06, + "chamfer": 6.2690060076420195e-06, + "track": 1.56446344590222e-06, + "acceleration": 2.0700534264506132e-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": 8.348112714884337e-06, + "observation_loss": 8.209359293687157e-06, + "chamfer": 6.530753125844058e-06, + "track": 1.6786057130957488e-06, + "acceleration": 1.3875325066692312e-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": 8.925901965994854e-06, + "observation_loss": 8.843209798214957e-06, + "chamfer": 6.958235189813422e-06, + "track": 1.884974608401535e-06, + "acceleration": 8.269191198451153e-08, + "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": 9.58514374360675e-06, + "observation_loss": 9.315194802184124e-06, + "chamfer": 7.280448699020781e-06, + "track": 2.0347458757896675e-06, + "acceleration": 2.699485719404038e-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": 9.345826583739836e-06, + "observation_loss": 9.18605837796349e-06, + "chamfer": 7.198969342425698e-06, + "track": 1.987089262911468e-06, + "acceleration": 1.597684899934393e-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": 9.0846961029456e-06, + "observation_loss": 8.884131602826528e-06, + "chamfer": 7.0119326665007975e-06, + "track": 1.8721991636994062e-06, + "acceleration": 2.0056411642599414e-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": 8.680069186084438e-06, + "observation_loss": 8.629438525531441e-06, + "chamfer": 6.843064966233214e-06, + "track": 1.7863736729850643e-06, + "acceleration": 5.063045804831745e-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": 8.481385521008633e-06, + "observation_loss": 8.427667125943117e-06, + "chamfer": 6.700673566228943e-06, + "track": 1.7269937870878493e-06, + "acceleration": 5.371805045228939e-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": 8.449359484075103e-06, + "observation_loss": 8.387715752178337e-06, + "chamfer": 6.665740329481196e-06, + "track": 1.7219754226971418e-06, + "acceleration": 6.164337662539765e-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": 8.515730769431684e-06, + "observation_loss": 8.446304491371848e-06, + "chamfer": 6.703051894874079e-06, + "track": 1.7432530512451194e-06, + "acceleration": 6.942601515902425e-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": 8.544148840883281e-06, + "observation_loss": 8.496828741044737e-06, + "chamfer": 6.737385774613358e-06, + "track": 1.7594428527445416e-06, + "acceleration": 4.7319915097432386e-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": 8.710157999303192e-06, + "observation_loss": 8.533320396963973e-06, + "chamfer": 6.74544571666047e-06, + "track": 1.787875021364016e-06, + "acceleration": 1.7683763076092873e-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": 8.944698492996395e-06, + "observation_loss": 8.593720849603415e-06, + "chamfer": 6.788042355765356e-06, + "track": 1.8056782664643833e-06, + "acceleration": 3.5097758654956124e-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": 9.44716975936899e-06, + "observation_loss": 8.704263564141002e-06, + "chamfer": 6.847767963336082e-06, + "track": 1.8564952597444062e-06, + "acceleration": 7.429058541674749e-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": 9.912065252137836e-06, + "observation_loss": 8.855749911163002e-06, + "chamfer": 6.956304787308909e-06, + "track": 1.899445237540931e-06, + "acceleration": 1.0563151136011584e-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": 9.555773431202397e-06, + "observation_loss": 8.996437827590853e-06, + "chamfer": 7.0566720751230605e-06, + "track": 1.9397662072151434e-06, + "acceleration": 5.593360583588947e-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": 9.46999807638349e-06, + "observation_loss": 9.270047485188115e-06, + "chamfer": 7.245487722684629e-06, + "track": 2.0245595351298107e-06, + "acceleration": 1.9995080435819546e-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": 9.767548363015521e-06, + "observation_loss": 9.626743121771142e-06, + "chamfer": 7.471846856788034e-06, + "track": 2.154896719730459e-06, + "acceleration": 1.4080509913583228e-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": 1.0146890417672694e-05, + "observation_loss": 1.0085141184390523e-05, + "chamfer": 7.771539458190091e-06, + "track": 2.3136017262004316e-06, + "acceleration": 6.174917643875233e-08, + "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": 1.035493187373504e-05, + "observation_loss": 1.0301876500307117e-05, + "chamfer": 7.907371582405176e-06, + "track": 2.394505145275616e-06, + "acceleration": 5.305565764501807e-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": 1.0660818588803522e-05, + "observation_loss": 1.0433477655169554e-05, + "chamfer": 7.982589522725902e-06, + "track": 2.4508881324436516e-06, + "acceleration": 2.2734076310371165e-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": 1.068621077138232e-05, + "observation_loss": 1.0543425560172182e-05, + "chamfer": 8.022922884265427e-06, + "track": 2.520502675906755e-06, + "acceleration": 1.427852112101391e-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": 1.0677037607820239e-05, + "observation_loss": 1.0588489203655627e-05, + "chamfer": 8.031854122236837e-06, + "track": 2.5566348540451145e-06, + "acceleration": 8.854841837546701e-08, + "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": 1.0736413969425485e-05, + "observation_loss": 1.04779774119379e-05, + "chamfer": 7.957172783790156e-06, + "track": 2.520804855521419e-06, + "acceleration": 2.584363301139092e-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": 1.0921588909695856e-05, + "observation_loss": 1.0269253834849223e-05, + "chamfer": 7.829985406715423e-06, + "track": 2.4392684281338006e-06, + "acceleration": 6.523349611597951e-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": 1.0625346476444975e-05, + "observation_loss": 1.0215017937298398e-05, + "chamfer": 7.789190021867398e-06, + "track": 2.425827688057325e-06, + "acceleration": 4.103281696643535e-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": 1.0822390322573483e-05, + "observation_loss": 1.0176147952734027e-05, + "chamfer": 7.759395884932019e-06, + "track": 2.4167522951756837e-06, + "acceleration": 6.462419719355239e-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": 1.2907983546028845e-05, + "observation_loss": 1.0016819032898638e-05, + "chamfer": 7.634787834831513e-06, + "track": 2.3820309706934495e-06, + "acceleration": 2.891164740503882e-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": 1.1802350854850374e-05, + "observation_loss": 1.0108788046636619e-05, + "chamfer": 7.713731974945404e-06, + "track": 2.395056071691215e-06, + "acceleration": 1.6935623534664046e-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": 1.0646408554748632e-05, + "observation_loss": 1.019085175357759e-05, + "chamfer": 7.767324859742075e-06, + "track": 2.4235273485828657e-06, + "acceleration": 4.5555640326711e-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": 1.0586651114863344e-05, + "observation_loss": 1.0202624252997339e-05, + "chamfer": 7.741593435639516e-06, + "track": 2.4610303626104724e-06, + "acceleration": 3.840269755528425e-07, + "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": 1.0520876458031125e-05, + "observation_loss": 1.0244537406833842e-05, + "chamfer": 7.746886694803834e-06, + "track": 2.4976502572826575e-06, + "acceleration": 2.763390796189924e-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": 1.0796525202749763e-05, + "observation_loss": 1.0534523426031228e-05, + "chamfer": 7.892329449532554e-06, + "track": 2.6421939764986746e-06, + "acceleration": 2.620017482968251e-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": 1.1038821867259685e-05, + "observation_loss": 1.0843163181561977e-05, + "chamfer": 8.043040907068644e-06, + "track": 2.8001225018670084e-06, + "acceleration": 1.9565894149309315e-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": 1.1391352927603293e-05, + "observation_loss": 1.1204589100088924e-05, + "chamfer": 8.238876034738496e-06, + "track": 2.9657130653504282e-06, + "acceleration": 1.8676340118872758e-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": 1.1575383723538835e-05, + "observation_loss": 1.1406278645154089e-05, + "chamfer": 8.344245543412399e-06, + "track": 3.0620328743680147e-06, + "acceleration": 1.6910485101107042e-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": 1.182387859444134e-05, + "observation_loss": 1.1599424396990798e-05, + "chamfer": 8.466716280963738e-06, + "track": 3.132708116027061e-06, + "acceleration": 2.244538563900278e-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": 1.2050904842908494e-05, + "observation_loss": 1.1908356100320816e-05, + "chamfer": 8.659729246573988e-06, + "track": 3.248627081120503e-06, + "acceleration": 1.425488136419517e-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": 1.2270920706214383e-05, + "observation_loss": 1.2187274478492327e-05, + "chamfer": 8.82505628396757e-06, + "track": 3.362218421898433e-06, + "acceleration": 8.36465474662873e-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": 1.2374341167742386e-05, + "observation_loss": 1.2310565580264665e-05, + "chamfer": 8.884228918759618e-06, + "track": 3.4263366615050472e-06, + "acceleration": 6.377567274284957e-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": 1.2455130672606174e-05, + "observation_loss": 1.2386959497234784e-05, + "chamfer": 8.93809374247212e-06, + "track": 3.4488657547626644e-06, + "acceleration": 6.81710972116889e-08, + "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": 1.2479519682528917e-05, + "observation_loss": 1.2408500879246276e-05, + "chamfer": 8.927876478992403e-06, + "track": 3.4806246276275488e-06, + "acceleration": 7.101888144234181e-08, + "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": 1.247106229129713e-05, + "observation_loss": 1.2427995898178779e-05, + "chamfer": 8.918267667468172e-06, + "track": 3.5097284580842825e-06, + "acceleration": 4.306600942527439e-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": 1.2542368494905531e-05, + "observation_loss": 1.2403871551214252e-05, + "chamfer": 8.904735295800492e-06, + "track": 3.499136028040084e-06, + "acceleration": 1.384970005346986e-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": 1.2522717952379026e-05, + "observation_loss": 1.2391934433253482e-05, + "chamfer": 8.898786290956195e-06, + "track": 3.493148369670962e-06, + "acceleration": 1.3078333438443224e-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": 1.238139157067053e-05, + "observation_loss": 1.2369383512123022e-05, + "chamfer": 8.86873749550432e-06, + "track": 3.5006460166187026e-06, + "acceleration": 1.200817933977305e-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": 1.2414669981808402e-05, + "observation_loss": 1.2348174095677678e-05, + "chamfer": 8.845133379509207e-06, + "track": 3.5030404887947952e-06, + "acceleration": 6.649568007333073e-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": 1.2484474609664176e-05, + "observation_loss": 1.2343303751549684e-05, + "chamfer": 8.834411346470006e-06, + "track": 3.5088924050796777e-06, + "acceleration": 1.4117104285560345e-07, + "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": 1.2378932296996936e-05, + "observation_loss": 1.225659616466146e-05, + "chamfer": 8.785313184489496e-06, + "track": 3.4712825254246127e-06, + "acceleration": 1.2233658708282746e-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": 1.2151087503298186e-05, + "observation_loss": 1.2107609109079931e-05, + "chamfer": 8.709239409654401e-06, + "track": 3.3983696994255297e-06, + "acceleration": 4.3478070921310064e-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": 9.190529404179415e-06, + "chamfer_mean": 6.32600690645783e-06, + "track_mean": 1.8126633261061897e-06, + "acceleration_mean": 1.0518590992658616e-06, + "observation_score": 8.138670227234949e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4314243410008203 + }, + "score_arrays_file": "pass_scores/pass_end_0165.npz", + "score_arrays_sha256": "76507128e763266fb8a1b47bd551ce6bf29ec216b1406cdb2ed029963b94c9fa" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0166.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0166.json new file mode 100644 index 0000000000000000000000000000000000000000..eea90b74f997dbb15da2e7d387d6279cbc29ce5f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0166.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 15936, + "completed_passes": 166, + "snapshot": "pass_end_0166", + "candidate": true, + "snapshot_arrays_sha256": "a5756d75b83c87b2fd00c124c50cd577e3f5735a0aa877c224e77706068df54a", + "score": 8.122039583705979e-06, + "score_result": { + "score": 8.122039583705979e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.948770998045802e-06, + 3.241645117668668e-06, + 3.5752527764998376e-06, + 4.207127858535387e-06, + 4.95069843964302e-06, + 5.298411451803986e-06, + 5.248892648523906e-06, + 5.1450620048854034e-06, + 4.9989198487310205e-06, + 4.996133611712139e-06, + 5.2336436056066304e-06, + 5.4840197662997525e-06, + 5.717477051803144e-06, + 5.8646492107072845e-06, + 5.890079592063557e-06, + 5.990936188027263e-06, + 5.850853995070793e-06, + 5.593291007244261e-06, + 5.426531970442738e-06, + 5.345730642147828e-06, + 5.289062301017111e-06, + 5.141705969435861e-06, + 4.941041879646946e-06, + 4.8683505156077445e-06, + 4.979612640454434e-06, + 5.2368118304002564e-06, + 5.524999323824886e-06, + 5.718985903513385e-06, + 5.762289674748899e-06, + 5.742901976191206e-06, + 5.680317372025456e-06, + 5.770671123173088e-06, + 5.968628101982176e-06, + 6.204854798852466e-06, + 6.390429007296916e-06, + 6.665669388894457e-06, + 6.942819709365722e-06, + 7.0087126005091704e-06, + 6.85758050167351e-06, + 6.829086487414315e-06, + 7.1072190621634945e-06, + 7.442803962476319e-06, + 7.580185865663225e-06, + 7.70244969316991e-06, + 7.759008440189064e-06, + 7.770991032884922e-06, + 7.801872925483622e-06, + 8.17891486804001e-06, + 8.811820407572668e-06, + 9.282495739171281e-06, + 9.153568498732056e-06, + 8.852739483700134e-06, + 8.598362001066562e-06, + 8.397348210564815e-06, + 8.358331797353458e-06, + 8.417431672569364e-06, + 8.46888269734336e-06, + 8.505764526489656e-06, + 8.566305041313171e-06, + 8.677448022353929e-06, + 8.828397767501883e-06, + 8.96981237019645e-06, + 9.244197826774325e-06, + 9.602299542166293e-06, + 1.0062067303806543e-05, + 1.0281504728482105e-05, + 1.0415631550131366e-05, + 1.0528327948122751e-05, + 1.0575276974122971e-05, + 1.0465605555509683e-05, + 1.025859728542855e-05, + 1.0205828402831685e-05, + 1.0169926099479198e-05, + 1.0006961019826122e-05, + 1.010525920719374e-05, + 1.0189440217800438e-05, + 1.0200197721133009e-05, + 1.0240769370284397e-05, + 1.0530113286222331e-05, + 1.0839523383765481e-05, + 1.120153501688037e-05, + 1.1404928045521956e-05, + 1.1597601769608445e-05, + 1.1903041013283655e-05, + 1.2183959370304365e-05, + 1.2307295946811792e-05, + 1.2383391549519729e-05, + 1.2405165762174875e-05, + 1.2425093700585421e-05, + 1.2401374078763183e-05, + 1.2389597031869926e-05, + 1.2367529052426107e-05, + 1.2346145922492724e-05, + 1.2343018170213327e-05, + 1.2260004950803705e-05, + 1.210977825394366e-05 + ] + ], + "episode_mean_losses": [ + 8.122039583705979e-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": 2.948770998045802e-06, + "observation_loss": 2.948770998045802e-06, + "chamfer": 2.5012102469190722e-06, + "track": 4.47560694283311e-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": 4.254027589922771e-05, + "observation_loss": 3.241645117668668e-06, + "chamfer": 2.7423177471064264e-06, + "track": 4.993274842490791e-07, + "acceleration": 3.929862941731699e-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": 2.535647217882797e-05, + "observation_loss": 3.5752527764998376e-06, + "chamfer": 3.0216092454793397e-06, + "track": 5.536434173336602e-07, + "acceleration": 2.1781219402328134e-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": 1.1897598596988246e-05, + "observation_loss": 4.207127858535387e-06, + "chamfer": 3.528671413732809e-06, + "track": 6.784565584894153e-07, + "acceleration": 7.69047073845286e-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": 9.447650882066227e-06, + "observation_loss": 4.95069843964302e-06, + "chamfer": 4.104650088265771e-06, + "track": 8.460482945338299e-07, + "acceleration": 4.496952442423208e-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": 6.8835984166071285e-06, + "observation_loss": 5.298411451803986e-06, + "chamfer": 4.366035682323854e-06, + "track": 9.32375598949875e-07, + "acceleration": 1.5851868511163048e-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": 6.272692189668305e-06, + "observation_loss": 5.248892648523906e-06, + "chamfer": 4.31147191193304e-06, + "track": 9.374205660606094e-07, + "acceleration": 1.0237996548312367e-06, + "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": 5.7714014474186115e-06, + "observation_loss": 5.1450620048854034e-06, + "chamfer": 4.227220870234305e-06, + "track": 9.178410209642607e-07, + "acceleration": 6.263392151595326e-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": 5.874489943380468e-06, + "observation_loss": 4.9989198487310205e-06, + "chamfer": 4.117209755349904e-06, + "track": 8.817102070679539e-07, + "acceleration": 8.755700946494471e-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": 5.610302650893573e-06, + "observation_loss": 4.996133611712139e-06, + "chamfer": 4.125275154365227e-06, + "track": 8.708586278771691e-07, + "acceleration": 6.141688118077582e-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": 5.565094852499897e-06, + "observation_loss": 5.2336436056066304e-06, + "chamfer": 4.3322424971847795e-06, + "track": 9.014013357955264e-07, + "acceleration": 3.314511616281379e-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": 5.82750635658158e-06, + "observation_loss": 5.4840197662997525e-06, + "chamfer": 4.539339897746686e-06, + "track": 9.446798685530666e-07, + "acceleration": 3.434864481732802e-07, + "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": 5.905375928705325e-06, + "observation_loss": 5.717477051803144e-06, + "chamfer": 4.741031716548605e-06, + "track": 9.764453352545388e-07, + "acceleration": 1.878989195347458e-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": 6.194610250531696e-06, + "observation_loss": 5.8646492107072845e-06, + "chamfer": 4.866202289122157e-06, + "track": 9.984466942114523e-07, + "acceleration": 3.299612387763773e-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": 6.301943813014077e-06, + "observation_loss": 5.890079592063557e-06, + "chamfer": 4.891776825388661e-06, + "track": 9.983027666748967e-07, + "acceleration": 4.118640788419725e-07, + "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": 6.223931450222153e-06, + "observation_loss": 5.990936188027263e-06, + "chamfer": 4.975138381269062e-06, + "track": 1.0157979204450385e-06, + "acceleration": 2.3299527640574524e-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": 6.077818852645578e-06, + "observation_loss": 5.850853995070793e-06, + "chamfer": 4.859244654653594e-06, + "track": 9.916093404171988e-07, + "acceleration": 2.2696470125538326e-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": 5.950657850917196e-06, + "observation_loss": 5.593291007244261e-06, + "chamfer": 4.65098901258898e-06, + "track": 9.423019378118624e-07, + "acceleration": 3.573669289380632e-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": 5.624337518383982e-06, + "observation_loss": 5.426531970442738e-06, + "chamfer": 4.518098194239428e-06, + "track": 9.084337193598913e-07, + "acceleration": 1.978055763629527e-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": 5.503087322722422e-06, + "observation_loss": 5.345730642147828e-06, + "chamfer": 4.451915629033465e-06, + "track": 8.938151836446195e-07, + "acceleration": 1.573567232071582e-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": 5.5303171393461525e-06, + "observation_loss": 5.289062301017111e-06, + "chamfer": 4.406578227644786e-06, + "track": 8.824840165289061e-07, + "acceleration": 2.412550372810074e-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": 5.4295355766953435e-06, + "observation_loss": 5.141705969435861e-06, + "chamfer": 4.2894293983408716e-06, + "track": 8.522766279384086e-07, + "acceleration": 2.8782952199435385e-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": 5.131515081302496e-06, + "observation_loss": 4.941041879646946e-06, + "chamfer": 4.129109584027901e-06, + "track": 8.119324093058822e-07, + "acceleration": 1.904732584989688e-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": 5.0212174755870365e-06, + "observation_loss": 4.8683505156077445e-06, + "chamfer": 4.063675532961497e-06, + "track": 8.046750963330851e-07, + "acceleration": 1.5286717314211273e-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": 5.139388576935744e-06, + "observation_loss": 4.979612640454434e-06, + "chamfer": 4.139168140682159e-06, + "track": 8.404446703025314e-07, + "acceleration": 1.5977602174643835e-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": 5.563692866417114e-06, + "observation_loss": 5.2368118304002564e-06, + "chamfer": 4.327922397351358e-06, + "track": 9.088892625186418e-07, + "acceleration": 3.268812633905327e-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": 5.912491815251997e-06, + "observation_loss": 5.524999323824886e-06, + "chamfer": 4.538108896667836e-06, + "track": 9.868906545307254e-07, + "acceleration": 3.874922924751445e-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": 6.003411726851482e-06, + "observation_loss": 5.718985903513385e-06, + "chamfer": 4.687615728471428e-06, + "track": 1.0313701750419568e-06, + "acceleration": 2.844256812295498e-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": 6.328235485852929e-06, + "observation_loss": 5.762289674748899e-06, + "chamfer": 4.729144620796433e-06, + "track": 1.0331451676393044e-06, + "acceleration": 5.65945981634286e-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": 5.965855052636471e-06, + "observation_loss": 5.742901976191206e-06, + "chamfer": 4.718654054158833e-06, + "track": 1.0242478083455353e-06, + "acceleration": 2.229529485475723e-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": 5.77933678869158e-06, + "observation_loss": 5.680317372025456e-06, + "chamfer": 4.67294512418448e-06, + "track": 1.0073724752146518e-06, + "acceleration": 9.901961561809003e-08, + "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": 5.891345153941074e-06, + "observation_loss": 5.770671123173088e-06, + "chamfer": 4.742337750940351e-06, + "track": 1.0283331448590616e-06, + "acceleration": 1.2067410182226013e-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": 6.079071226849919e-06, + "observation_loss": 5.968628101982176e-06, + "chamfer": 4.899422947346466e-06, + "track": 1.0692049272620352e-06, + "acceleration": 1.104430040754778e-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": 6.320776265056338e-06, + "observation_loss": 6.204854798852466e-06, + "chamfer": 5.0736066441459116e-06, + "track": 1.13124838208023e-06, + "acceleration": 1.1592123883019667e-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": 6.4984305936377496e-06, + "observation_loss": 6.390429007296916e-06, + "chamfer": 5.218442311161198e-06, + "track": 1.171986809822556e-06, + "acceleration": 1.0800174266023532e-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": 6.8380559241632e-06, + "observation_loss": 6.665669388894457e-06, + "chamfer": 5.423617039923556e-06, + "track": 1.242052462657739e-06, + "acceleration": 1.7238669158814446e-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": 7.00839427736355e-06, + "observation_loss": 6.942819709365722e-06, + "chamfer": 5.6304861573153175e-06, + "track": 1.3123333246767288e-06, + "acceleration": 6.557460352496491e-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": 7.367295438598376e-06, + "observation_loss": 7.0087126005091704e-06, + "chamfer": 5.692646936950041e-06, + "track": 1.3160657772459672e-06, + "acceleration": 3.5858266755894874e-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": 7.019074473646469e-06, + "observation_loss": 6.85758050167351e-06, + "chamfer": 5.596743903879542e-06, + "track": 1.2608365977939684e-06, + "acceleration": 1.6149397197295912e-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": 7.013273261691211e-06, + "observation_loss": 6.829086487414315e-06, + "chamfer": 5.5778923524485435e-06, + "track": 1.2511943623394473e-06, + "acceleration": 1.8418660374663887e-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": 7.373018888756633e-06, + "observation_loss": 7.1072190621634945e-06, + "chamfer": 5.785582288808655e-06, + "track": 1.3216366596680018e-06, + "acceleration": 2.657998550148477e-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": 7.633660061401315e-06, + "observation_loss": 7.442803962476319e-06, + "chamfer": 6.0215616031200625e-06, + "track": 1.421242473043094e-06, + "acceleration": 1.9085589997303032e-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": 7.66669381846441e-06, + "observation_loss": 7.580185865663225e-06, + "chamfer": 6.10227425568155e-06, + "track": 1.4779117236685124e-06, + "acceleration": 8.650779648178286e-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": 7.7492286436609e-06, + "observation_loss": 7.70244969316991e-06, + "chamfer": 6.182351626193849e-06, + "track": 1.5200979532892234e-06, + "acceleration": 4.677857745605252e-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": 7.833806193957571e-06, + "observation_loss": 7.759008440189064e-06, + "chamfer": 6.2171775425667875e-06, + "track": 1.5418304428749252e-06, + "acceleration": 7.479800956389226e-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": 7.87717362982221e-06, + "observation_loss": 7.770991032884922e-06, + "chamfer": 6.2252561292552855e-06, + "track": 1.5457345625691232e-06, + "acceleration": 1.0618294510322812e-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": 8.009158591448795e-06, + "observation_loss": 7.801872925483622e-06, + "chamfer": 6.244719770620577e-06, + "track": 1.5571527001156937e-06, + "acceleration": 2.0728569438688282e-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": 8.317912943311967e-06, + "observation_loss": 8.17891486804001e-06, + "chamfer": 6.507636953756446e-06, + "track": 1.6712774595362134e-06, + "acceleration": 1.3899827422392264e-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": 8.894865459296852e-06, + "observation_loss": 8.811820407572668e-06, + "chamfer": 6.93479569235933e-06, + "track": 1.8770243741528247e-06, + "acceleration": 8.304543541726161e-08, + "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": 9.55234281718731e-06, + "observation_loss": 9.282495739171281e-06, + "chamfer": 7.2563534558867104e-06, + "track": 2.026142283284571e-06, + "acceleration": 2.698466801120958e-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": 9.313878763350658e-06, + "observation_loss": 9.153568498732056e-06, + "chamfer": 7.175017799454508e-06, + "track": 1.9785509266512236e-06, + "acceleration": 1.6030980987125076e-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": 9.053632311406545e-06, + "observation_loss": 8.852739483700134e-06, + "chamfer": 6.98849544278346e-06, + "track": 1.8642438135429984e-06, + "acceleration": 2.0089268559786433e-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": 8.649317351228092e-06, + "observation_loss": 8.598362001066562e-06, + "chamfer": 6.819635018473491e-06, + "track": 1.7787269825930707e-06, + "acceleration": 5.095566635304749e-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": 8.450911082036328e-06, + "observation_loss": 8.397348210564815e-06, + "chamfer": 6.677660167042632e-06, + "track": 1.7196880435221829e-06, + "acceleration": 5.3563010027346536e-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": 8.419966434303205e-06, + "observation_loss": 8.358331797353458e-06, + "chamfer": 6.643500455538742e-06, + "track": 1.7148313418147154e-06, + "acceleration": 6.163473642573081e-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": 8.486063961754553e-06, + "observation_loss": 8.417431672569364e-06, + "chamfer": 6.68136817694176e-06, + "track": 1.7360637230012799e-06, + "acceleration": 6.863241708288115e-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": 8.514079127053265e-06, + "observation_loss": 8.46888269734336e-06, + "chamfer": 6.716526513628196e-06, + "track": 1.7523561837151647e-06, + "acceleration": 4.5196347997489283e-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": 8.68332790560089e-06, + "observation_loss": 8.505764526489656e-06, + "chamfer": 6.725097136950353e-06, + "track": 1.78066704847879e-06, + "acceleration": 1.775629954181568e-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": 8.919379069993738e-06, + "observation_loss": 8.566305041313171e-06, + "chamfer": 6.768072125851177e-06, + "track": 1.7982330291488324e-06, + "acceleration": 3.530737444634724e-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": 9.424570635019336e-06, + "observation_loss": 8.677448022353929e-06, + "chamfer": 6.8286130954220425e-06, + "track": 1.8488350406187237e-06, + "acceleration": 7.471223284483131e-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": 9.890841283777263e-06, + "observation_loss": 8.828397767501883e-06, + "chamfer": 6.936803856660845e-06, + "track": 1.8915937971542007e-06, + "acceleration": 1.0624435162753798e-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": 9.532908734399825e-06, + "observation_loss": 8.96981237019645e-06, + "chamfer": 7.037867817416554e-06, + "track": 1.9319443254062207e-06, + "acceleration": 5.630968189507257e-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": 9.44602106756065e-06, + "observation_loss": 9.244197826774325e-06, + "chamfer": 7.22722052159952e-06, + "track": 2.0169770778011298e-06, + "acceleration": 2.0182361026854778e-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": 9.744532690092456e-06, + "observation_loss": 9.602299542166293e-06, + "chamfer": 7.454586466337787e-06, + "track": 2.147712621081155e-06, + "acceleration": 1.4223294897419692e-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": 1.0124434083991218e-05, + "observation_loss": 1.0062067303806543e-05, + "chamfer": 7.755126716801897e-06, + "track": 2.306940814378322e-06, + "acceleration": 6.236660965441843e-08, + "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": 1.0335218576074112e-05, + "observation_loss": 1.0281504728482105e-05, + "chamfer": 7.893026122474112e-06, + "track": 2.3884788333816687e-06, + "acceleration": 5.371343192450695e-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": 1.0644405847415328e-05, + "observation_loss": 1.0415631550131366e-05, + "chamfer": 7.970124897838105e-06, + "track": 2.445507107040612e-06, + "acceleration": 2.287739562234492e-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": 1.0671968993847258e-05, + "observation_loss": 1.0528327948122751e-05, + "chamfer": 8.012338184926193e-06, + "track": 2.515989990570233e-06, + "acceleration": 1.4364060518801125e-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": 1.0664506589819212e-05, + "observation_loss": 1.0575276974122971e-05, + "chamfer": 8.022572728805244e-06, + "track": 2.552704017944052e-06, + "acceleration": 8.922926042487234e-08, + "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": 1.0724745152401738e-05, + "observation_loss": 1.0465605555509683e-05, + "chamfer": 7.948317943373695e-06, + "track": 2.5172873847623123e-06, + "acceleration": 2.591397390006023e-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": 1.0913159712799825e-05, + "observation_loss": 1.025859728542855e-05, + "chamfer": 7.822609404684044e-06, + "track": 2.4359878807445057e-06, + "acceleration": 6.545628252752067e-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": 1.0617422049108427e-05, + "observation_loss": 1.0205828402831685e-05, + "chamfer": 7.782899047015235e-06, + "track": 2.4229295831901254e-06, + "acceleration": 4.115933336379385e-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": 1.0874044164665975e-05, + "observation_loss": 1.0169926099479198e-05, + "chamfer": 7.755374099360779e-06, + "track": 2.4145524548657704e-06, + "acceleration": 7.041182925604517e-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": 1.3141614545020275e-05, + "observation_loss": 1.0006961019826122e-05, + "chamfer": 7.628081675647991e-06, + "track": 2.378879344178131e-06, + "acceleration": 3.1346537525678286e-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": 1.1929800166399218e-05, + "observation_loss": 1.010525920719374e-05, + "chamfer": 7.711223588557914e-06, + "track": 2.3940353912621504e-06, + "acceleration": 1.8245414139528293e-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": 1.069425888999831e-05, + "observation_loss": 1.0189440217800438e-05, + "chamfer": 7.766672752040904e-06, + "track": 2.422767238385859e-06, + "acceleration": 5.048190701018029e-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": 1.0598862900224049e-05, + "observation_loss": 1.0200197721133009e-05, + "chamfer": 7.740213732176926e-06, + "track": 2.4599839889560826e-06, + "acceleration": 3.9866489487394574e-07, + "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": 1.0517437658563722e-05, + "observation_loss": 1.0240769370284397e-05, + "chamfer": 7.74493491917383e-06, + "track": 2.495834451110568e-06, + "acceleration": 2.766685156530002e-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": 1.079606226994656e-05, + "observation_loss": 1.0530113286222331e-05, + "chamfer": 7.890505003160797e-06, + "track": 2.6396080556878587e-06, + "acceleration": 2.6594909741106676e-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": 1.1038054253731389e-05, + "observation_loss": 1.0839523383765481e-05, + "chamfer": 8.041938599490095e-06, + "track": 2.7975843295280356e-06, + "acceleration": 1.9853052890539402e-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": 1.1396011359465774e-05, + "observation_loss": 1.120153501688037e-05, + "chamfer": 8.237726433435455e-06, + "track": 2.963808128697565e-06, + "acceleration": 1.9447612942258274e-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": 1.158332270279061e-05, + "observation_loss": 1.1404928045521956e-05, + "chamfer": 8.344451998709701e-06, + "track": 3.0604762741859304e-06, + "acceleration": 1.783950693834413e-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": 1.1819214705610648e-05, + "observation_loss": 1.1597601769608445e-05, + "chamfer": 8.466813596896827e-06, + "track": 3.1307877179642674e-06, + "acceleration": 2.2161286494792876e-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": 1.2039561624987982e-05, + "observation_loss": 1.1903041013283655e-05, + "chamfer": 8.657060789118987e-06, + "track": 3.2459797694173176e-06, + "acceleration": 1.3652095276484033e-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": 1.2267460078874137e-05, + "observation_loss": 1.2183959370304365e-05, + "chamfer": 8.82408676261548e-06, + "track": 3.3598723803152097e-06, + "acceleration": 8.3501134895414e-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": 1.237005926668644e-05, + "observation_loss": 1.2307295946811792e-05, + "chamfer": 8.88340400706511e-06, + "track": 3.423891712373006e-06, + "acceleration": 6.27630853955452e-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": 1.24521175166592e-05, + "observation_loss": 1.2383391549519729e-05, + "chamfer": 8.937076927395537e-06, + "track": 3.446314849497867e-06, + "acceleration": 6.872624425113827e-08, + "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": 1.2477752534323372e-05, + "observation_loss": 1.2405165762174875e-05, + "chamfer": 8.926950613385998e-06, + "track": 3.4782156035362277e-06, + "acceleration": 7.258716294700207e-08, + "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": 1.2468222848838195e-05, + "observation_loss": 1.2425093700585421e-05, + "chamfer": 8.917637387639843e-06, + "track": 3.5074563129455782e-06, + "acceleration": 4.3129190885338176e-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": 1.2538800547190476e-05, + "observation_loss": 1.2401374078763183e-05, + "chamfer": 8.90454430191312e-06, + "track": 3.4968297768500634e-06, + "acceleration": 1.374266531684043e-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": 1.2519294614321552e-05, + "observation_loss": 1.2389597031869926e-05, + "chamfer": 8.898587111616507e-06, + "track": 3.4910103750007693e-06, + "acceleration": 1.296974403430795e-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": 1.2379304280329961e-05, + "observation_loss": 1.2367529052426107e-05, + "chamfer": 8.86874295247253e-06, + "track": 3.498786554700928e-06, + "acceleration": 1.177523589745988e-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": 1.241176596522564e-05, + "observation_loss": 1.2346145922492724e-05, + "chamfer": 8.84517066879198e-06, + "track": 3.5009752537007444e-06, + "acceleration": 6.56199716786432e-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": 1.24817679534317e-05, + "observation_loss": 1.2343018170213327e-05, + "chamfer": 8.835605513013434e-06, + "track": 3.507412657199893e-06, + "acceleration": 1.387499679594839e-07, + "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": 1.2380974112602416e-05, + "observation_loss": 1.2260004950803705e-05, + "chamfer": 8.788737432041671e-06, + "track": 3.4712670640146825e-06, + "acceleration": 1.2096931811811373e-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": 1.2151169357821345e-05, + "observation_loss": 1.210977825394366e-05, + "chamfer": 8.711833288543858e-06, + "track": 3.3979447380261263e-06, + "acceleration": 4.139085874044213e-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": 9.17790019154078e-06, + "chamfer_mean": 6.313768354952269e-06, + "track_mean": 1.808271201516239e-06, + "acceleration_mean": 1.0558605991102994e-06, + "observation_score": 8.122039583705979e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4310994770003163 + }, + "score_arrays_file": "pass_scores/pass_end_0166.npz", + "score_arrays_sha256": "f7cf44c8a5bb561c68affcdaf4f5041d74eef9b194b6674b58d846d352408417" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0167.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0167.json new file mode 100644 index 0000000000000000000000000000000000000000..c1717c960a85f04dd71d4521da56bfd58462b879 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0167.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16032, + "completed_passes": 167, + "snapshot": "pass_end_0167", + "candidate": true, + "snapshot_arrays_sha256": "0347ec6cbe7cf7b123fea58a968454ba122f78d8a90ac75ec48a7879fe7ab974", + "score": 8.106966528013496e-06, + "score_result": { + "score": 8.106966528013496e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9485645427484997e-06, + 3.2397160794062074e-06, + 3.5709526855498552e-06, + 4.195190740574617e-06, + 4.933578111376846e-06, + 5.2777418204641435e-06, + 5.225380846241023e-06, + 5.121448339195922e-06, + 4.9758968998503406e-06, + 4.975783213012619e-06, + 5.2159480219415855e-06, + 5.469747520692181e-06, + 5.702905127691338e-06, + 5.849218723597005e-06, + 5.871689154446358e-06, + 5.970371603325475e-06, + 5.8301752687839326e-06, + 5.574470378633123e-06, + 5.409314326243475e-06, + 5.327309736458119e-06, + 5.268318545859074e-06, + 5.120541572978254e-06, + 4.923630513076205e-06, + 4.852031906921184e-06, + 4.9610853238846175e-06, + 5.213853910390753e-06, + 5.502355634234846e-06, + 5.697285814676434e-06, + 5.7400516197958495e-06, + 5.726354174839798e-06, + 5.666394372383365e-06, + 5.758254701504484e-06, + 5.957511802989757e-06, + 6.190980911924271e-06, + 6.373005817295052e-06, + 6.644451332249446e-06, + 6.921835392859066e-06, + 6.9889183578197844e-06, + 6.8353901951923035e-06, + 6.7988694354426116e-06, + 7.0718324423069134e-06, + 7.406395980069647e-06, + 7.544389973190846e-06, + 7.666449164389633e-06, + 7.723019734839909e-06, + 7.735928193142172e-06, + 7.76884553488344e-06, + 8.14624218037352e-06, + 8.776751201367006e-06, + 9.24692449189024e-06, + 9.119043170358054e-06, + 8.820512448437512e-06, + 8.567501026846003e-06, + 8.368828275706619e-06, + 8.331409844686277e-06, + 8.391735718760174e-06, + 8.444328159384895e-06, + 8.482029443257488e-06, + 8.542607247363776e-06, + 8.654598786961287e-06, + 8.805151082924567e-06, + 8.946934030973352e-06, + 9.221511390933301e-06, + 9.580859114066698e-06, + 1.004148452921072e-05, + 1.0263953299727291e-05, + 1.0400945029687136e-05, + 1.0516925613046624e-05, + 1.0566077435214538e-05, + 1.045755561790429e-05, + 1.0252311767544597e-05, + 1.0201206350757275e-05, + 1.0168118024012074e-05, + 1.0003936040448025e-05, + 1.0108745300385635e-05, + 1.0195150025538169e-05, + 1.0204608770436607e-05, + 1.0244096301903483e-05, + 1.0532506166782696e-05, + 1.0842085430340376e-05, + 1.1204614565940574e-05, + 1.14089516500826e-05, + 1.1600731340877246e-05, + 1.190314651466906e-05, + 1.218526540469611e-05, + 1.2309186786296777e-05, + 1.2384767615003511e-05, + 1.2406495443428867e-05, + 1.2427158253558446e-05, + 1.2403751497913618e-05, + 1.2392551980155986e-05, + 1.237130618392257e-05, + 1.2350114957371261e-05, + 1.2348706150078215e-05, + 1.226647691510152e-05, + 1.2115502613596618e-05 + ] + ], + "episode_mean_losses": [ + 8.106966528013496e-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": 2.9485645427484997e-06, + "observation_loss": 2.9485645427484997e-06, + "chamfer": 2.5010426725202706e-06, + "track": 4.4752184180651966e-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": 4.250981146469712e-05, + "observation_loss": 3.2397160794062074e-06, + "chamfer": 2.740681566137937e-06, + "track": 4.990346269551083e-07, + "acceleration": 3.927009674953297e-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": 2.5321382054244168e-05, + "observation_loss": 3.5709526855498552e-06, + "chamfer": 3.0180863177520223e-06, + "track": 5.528663109544141e-07, + "acceleration": 2.1750429368694313e-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": 1.187142242997652e-05, + "observation_loss": 4.195190740574617e-06, + "chamfer": 3.5192792893212754e-06, + "track": 6.759116217835981e-07, + "acceleration": 7.676231689401902e-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": 9.428468729311135e-06, + "observation_loss": 4.933578111376846e-06, + "chamfer": 4.09193762607174e-06, + "track": 8.416405421485251e-07, + "acceleration": 4.4948906179342885e-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": 6.862748705316335e-06, + "observation_loss": 5.2777418204641435e-06, + "chamfer": 4.3513600758160464e-06, + "track": 9.263817446480971e-07, + "acceleration": 1.5850069985390292e-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": 6.249334546737373e-06, + "observation_loss": 5.225380846241023e-06, + "chamfer": 4.295268354326254e-06, + "track": 9.301125487581885e-07, + "acceleration": 1.023953927870025e-06, + "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": 5.74492014493444e-06, + "observation_loss": 5.121448339195922e-06, + "chamfer": 4.211080067761941e-06, + "track": 9.103681009037246e-07, + "acceleration": 6.234716920516803e-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": 5.843065991939511e-06, + "observation_loss": 4.9758968998503406e-06, + "chamfer": 4.101121703570243e-06, + "track": 8.747752531235164e-07, + "acceleration": 8.671689784023329e-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": 5.5830992096161935e-06, + "observation_loss": 4.975783213012619e-06, + "chamfer": 4.111169346288079e-06, + "track": 8.646138667245395e-07, + "acceleration": 6.073159966035746e-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": 5.543414317799034e-06, + "observation_loss": 5.2159480219415855e-06, + "chamfer": 4.320001153246267e-06, + "track": 8.95946755008481e-07, + "acceleration": 3.2746612532719155e-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": 5.803757630928885e-06, + "observation_loss": 5.469747520692181e-06, + "chamfer": 4.5297688302525785e-06, + "track": 9.399788609698589e-07, + "acceleration": 3.3400991128473834e-07, + "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": 5.88432521908544e-06, + "observation_loss": 5.702905127691338e-06, + "chamfer": 4.7310559239122085e-06, + "track": 9.718492037791293e-07, + "acceleration": 1.814199919181192e-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": 6.178665444167564e-06, + "observation_loss": 5.849218723597005e-06, + "chamfer": 4.855294264416443e-06, + "track": 9.939242318068864e-07, + "acceleration": 3.294467489922681e-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": 6.269758159760386e-06, + "observation_loss": 5.871689154446358e-06, + "chamfer": 4.8781676014186814e-06, + "track": 9.935215530276764e-07, + "acceleration": 3.980691190008656e-07, + "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": 6.193731223902432e-06, + "observation_loss": 5.970371603325475e-06, + "chamfer": 4.959580110153183e-06, + "track": 1.0107914931722917e-06, + "acceleration": 2.2335956373353838e-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": 6.058067356207175e-06, + "observation_loss": 5.8301752687839326e-06, + "chamfer": 4.843470378546044e-06, + "track": 9.867048902378883e-07, + "acceleration": 2.2789227216435393e-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": 5.932188287260942e-06, + "observation_loss": 5.574470378633123e-06, + "chamfer": 4.6363502406165935e-06, + "track": 9.381202517033671e-07, + "acceleration": 3.577181360014947e-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": 5.608694209513487e-06, + "observation_loss": 5.409314326243475e-06, + "chamfer": 4.5044794205750804e-06, + "track": 9.048350761986512e-07, + "acceleration": 1.9937992590257636e-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": 5.4865390666236635e-06, + "observation_loss": 5.327309736458119e-06, + "chamfer": 4.437118150235619e-06, + "track": 8.90191813596175e-07, + "acceleration": 1.592294864849464e-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": 5.511359631782398e-06, + "observation_loss": 5.268318545859074e-06, + "chamfer": 4.389858531794744e-06, + "track": 8.78459843534074e-07, + "acceleration": 2.4304102907990455e-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": 5.410735411714995e-06, + "observation_loss": 5.120541572978254e-06, + "chamfer": 4.272259957360802e-06, + "track": 8.482815587740333e-07, + "acceleration": 2.901938671584503e-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": 5.114639407111099e-06, + "observation_loss": 4.923630513076205e-06, + "chamfer": 4.1149137359752785e-06, + "track": 8.087165497272508e-07, + "acceleration": 1.9100883719147532e-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": 5.006756509828847e-06, + "observation_loss": 4.852031906921184e-06, + "chamfer": 4.050309598824242e-06, + "track": 8.017221944101038e-07, + "acceleration": 1.5472446079911606e-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": 5.122229595144745e-06, + "observation_loss": 4.9610853238846175e-06, + "chamfer": 4.124234692426398e-06, + "track": 8.368507451450569e-07, + "acceleration": 1.611440580973067e-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": 5.542097824218217e-06, + "observation_loss": 5.213853910390753e-06, + "chamfer": 4.309497853682842e-06, + "track": 9.043558861776546e-07, + "acceleration": 3.28243913827464e-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": 5.890974534850102e-06, + "observation_loss": 5.502355634234846e-06, + "chamfer": 4.519980393524747e-06, + "track": 9.823754680837737e-07, + "acceleration": 3.8861895745867514e-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": 5.978534773021238e-06, + "observation_loss": 5.697285814676434e-06, + "chamfer": 4.670212092605652e-06, + "track": 1.027073494697106e-06, + "acceleration": 2.812488446579664e-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": 6.307700004981598e-06, + "observation_loss": 5.7400516197958495e-06, + "chamfer": 4.7112139327509794e-06, + "track": 1.0288378007317078e-06, + "acceleration": 5.676484988725861e-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": 5.9495737332326826e-06, + "observation_loss": 5.726354174839798e-06, + "chamfer": 4.705151241068961e-06, + "track": 1.0212031611445127e-06, + "acceleration": 2.232195583928842e-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": 5.764535671914928e-06, + "observation_loss": 5.666394372383365e-06, + "chamfer": 4.661529146687826e-06, + "track": 1.0048652256955393e-06, + "acceleration": 9.814126400442547e-08, + "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": 5.882262485101819e-06, + "observation_loss": 5.758254701504484e-06, + "chamfer": 4.732175966637442e-06, + "track": 1.0260789622407174e-06, + "acceleration": 1.2400789728417294e-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": 6.06700632488355e-06, + "observation_loss": 5.957511802989757e-06, + "chamfer": 4.890388026979053e-06, + "track": 1.0671236623238656e-06, + "acceleration": 1.0949454321007579e-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": 6.3059592321224045e-06, + "observation_loss": 6.190980911924271e-06, + "chamfer": 5.062424861534964e-06, + "track": 1.1285561640761443e-06, + "acceleration": 1.1497847651753546e-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": 6.482047865574714e-06, + "observation_loss": 6.373005817295052e-06, + "chamfer": 5.2045406846445985e-06, + "track": 1.1684652463372913e-06, + "acceleration": 1.0904192038196925e-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": 6.8164008553139865e-06, + "observation_loss": 6.644451332249446e-06, + "chamfer": 5.406623131420929e-06, + "track": 1.2378282008285169e-06, + "acceleration": 1.7194935253428412e-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": 6.988176210143138e-06, + "observation_loss": 6.921835392859066e-06, + "chamfer": 5.613715075014625e-06, + "track": 1.3081202041576034e-06, + "acceleration": 6.634082438949918e-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": 7.347689461312257e-06, + "observation_loss": 6.9889183578197844e-06, + "chamfer": 5.676725777448155e-06, + "track": 1.3121924666847917e-06, + "acceleration": 3.587712740227289e-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": 6.997473974479362e-06, + "observation_loss": 6.8353901951923035e-06, + "chamfer": 5.578976470133057e-06, + "track": 1.2564138387460844e-06, + "acceleration": 1.6208367981107585e-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": 6.9835914473515e-06, + "observation_loss": 6.7988694354426116e-06, + "chamfer": 5.553834853344597e-06, + "track": 1.2450343547243392e-06, + "acceleration": 1.8472206875230768e-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": 7.3387664087931626e-06, + "observation_loss": 7.0718324423069134e-06, + "chamfer": 5.758012775913812e-06, + "track": 1.3138195527062635e-06, + "acceleration": 2.669338527994114e-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": 7.598253432661295e-06, + "observation_loss": 7.406395980069647e-06, + "chamfer": 5.9933804550382774e-06, + "track": 1.413015638718207e-06, + "acceleration": 1.9185750943506719e-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": 7.630909749423154e-06, + "observation_loss": 7.544389973190846e-06, + "chamfer": 6.07469064561883e-06, + "track": 1.4696994412588538e-06, + "acceleration": 8.651974781059835e-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": 7.713387276453432e-06, + "observation_loss": 7.666449164389633e-06, + "chamfer": 6.1548503254016396e-06, + "track": 1.5115983842406422e-06, + "acceleration": 4.693819022349999e-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": 7.797682883392554e-06, + "observation_loss": 7.723019734839909e-06, + "chamfer": 6.189615305629559e-06, + "track": 1.533404770270863e-06, + "acceleration": 7.466302065495256e-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": 7.842600098229013e-06, + "observation_loss": 7.735928193142172e-06, + "chamfer": 6.198347819008632e-06, + "track": 1.5375800330730272e-06, + "acceleration": 1.0667172034573014e-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": 7.976188499014825e-06, + "observation_loss": 7.76884553488344e-06, + "chamfer": 6.219437182153342e-06, + "track": 1.5494078979827464e-06, + "acceleration": 2.073432483484794e-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": 8.285964213428088e-06, + "observation_loss": 8.14624218037352e-06, + "chamfer": 6.482885510195047e-06, + "track": 1.663356670178473e-06, + "acceleration": 1.3972162093978113e-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": 8.859769877744839e-06, + "observation_loss": 8.776751201367006e-06, + "chamfer": 6.908641353220446e-06, + "track": 1.8681098481465597e-06, + "acceleration": 8.301850584757631e-08, + "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": 9.516483260085806e-06, + "observation_loss": 9.24692449189024e-06, + "chamfer": 7.23038556316169e-06, + "track": 2.0165387013548752e-06, + "acceleration": 2.695583134482149e-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": 9.279821824748069e-06, + "observation_loss": 9.119043170358054e-06, + "chamfer": 7.1496274358651135e-06, + "track": 1.96941527974559e-06, + "acceleration": 1.60778739655143e-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": 9.02236297406489e-06, + "observation_loss": 8.820512448437512e-06, + "chamfer": 6.964491603866918e-06, + "track": 1.8560206171969185e-06, + "acceleration": 2.0185019877771992e-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": 8.618908395874314e-06, + "observation_loss": 8.567501026846003e-06, + "chamfer": 6.7963901528855786e-06, + "track": 1.7711107602735865e-06, + "acceleration": 5.1407184287199925e-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": 8.422839528066106e-06, + "observation_loss": 8.368828275706619e-06, + "chamfer": 6.656037385255331e-06, + "track": 1.7127908904512879e-06, + "acceleration": 5.401099656410224e-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": 8.3929289758089e-06, + "observation_loss": 8.331409844686277e-06, + "chamfer": 6.623130502703134e-06, + "track": 1.7082796830436564e-06, + "acceleration": 6.151889664351984e-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": 8.459723176201805e-06, + "observation_loss": 8.391735718760174e-06, + "chamfer": 6.66206460664398e-06, + "track": 1.7296709984293557e-06, + "acceleration": 6.798705243227232e-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": 8.487954801239539e-06, + "observation_loss": 8.444328159384895e-06, + "chamfer": 6.698136985505698e-06, + "track": 1.74619151493971e-06, + "acceleration": 4.3626627643789107e-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": 8.659016202727798e-06, + "observation_loss": 8.482029443257488e-06, + "chamfer": 6.707619377266383e-06, + "track": 1.7744097249305923e-06, + "acceleration": 1.7698653209663462e-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": 8.89613147592172e-06, + "observation_loss": 8.542607247363776e-06, + "chamfer": 6.750820830347948e-06, + "track": 1.791786871763179e-06, + "acceleration": 3.5352417171452544e-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": 9.403079275216442e-06, + "observation_loss": 8.654598786961287e-06, + "chamfer": 6.812428637203993e-06, + "track": 1.842169695009943e-06, + "acceleration": 7.484803177248978e-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": 9.87037128652446e-06, + "observation_loss": 8.805151082924567e-06, + "chamfer": 6.920340638316702e-06, + "track": 1.8848102172341896e-06, + "acceleration": 1.0652198625393794e-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": 9.512077667750418e-06, + "observation_loss": 8.946934030973352e-06, + "chamfer": 7.021748842817033e-06, + "track": 1.925184733408969e-06, + "acceleration": 5.651438073073223e-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": 9.42469068831997e-06, + "observation_loss": 9.221511390933301e-06, + "chamfer": 7.211248885141686e-06, + "track": 2.0102622784179403e-06, + "acceleration": 2.0317915527812147e-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": 9.724134542921092e-06, + "observation_loss": 9.580859114066698e-06, + "chamfer": 7.439557975885691e-06, + "track": 2.1413011381810065e-06, + "acceleration": 1.4327568464977958e-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": 1.0104226930707227e-05, + "observation_loss": 1.004148452921072e-05, + "chamfer": 7.740647561149672e-06, + "track": 2.300836740687373e-06, + "acceleration": 6.274238018022515e-08, + "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": 1.0317990017938428e-05, + "observation_loss": 1.0263953299727291e-05, + "chamfer": 7.880870725784916e-06, + "track": 2.383082346568699e-06, + "acceleration": 5.403695269023956e-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": 1.0630174983816687e-05, + "observation_loss": 1.0400945029687136e-05, + "chamfer": 7.959854883665685e-06, + "track": 2.441090146021452e-06, + "acceleration": 2.2922959885818273e-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": 1.066034019459039e-05, + "observation_loss": 1.0516925613046624e-05, + "chamfer": 8.00439556769561e-06, + "track": 2.512530272724689e-06, + "acceleration": 1.4341485155000555e-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": 1.0655331607267726e-05, + "observation_loss": 1.0566077435214538e-05, + "chamfer": 8.01612259238027e-06, + "track": 2.5499548428342678e-06, + "acceleration": 8.925391625780321e-08, + "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": 1.071653878170764e-05, + "observation_loss": 1.045755561790429e-05, + "chamfer": 7.942519914649893e-06, + "track": 2.515035703254398e-06, + "acceleration": 2.589829932730936e-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": 1.0907511750701815e-05, + "observation_loss": 1.0252311767544597e-05, + "chamfer": 7.818111043889076e-06, + "track": 2.4342004962818464e-06, + "acceleration": 6.552002673743118e-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": 1.0613727681629825e-05, + "observation_loss": 1.0201206350757275e-05, + "chamfer": 7.779529369145166e-06, + "track": 2.421677208985784e-06, + "acceleration": 4.1252118876400345e-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": 1.0928270967269782e-05, + "observation_loss": 1.0168118024012074e-05, + "chamfer": 7.754059879516717e-06, + "track": 2.4140583718690323e-06, + "acceleration": 7.601533411616401e-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": 1.3372458852245472e-05, + "observation_loss": 1.0003936040448025e-05, + "chamfer": 7.62571653467603e-06, + "track": 2.37821973314567e-06, + "acceleration": 3.3685228117974475e-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": 1.2052135389239993e-05, + "observation_loss": 1.0108745300385635e-05, + "chamfer": 7.713110790064093e-06, + "track": 2.395634737695218e-06, + "acceleration": 1.943389861480682e-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": 1.0743060556706041e-05, + "observation_loss": 1.0195150025538169e-05, + "chamfer": 7.770634510961827e-06, + "track": 2.4245157419500174e-06, + "acceleration": 5.479101901073591e-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": 1.0618715350574348e-05, + "observation_loss": 1.0204608770436607e-05, + "chamfer": 7.743276000837795e-06, + "track": 2.4613329969724873e-06, + "acceleration": 4.141063811857748e-07, + "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": 1.0521050171519164e-05, + "observation_loss": 1.0244096301903483e-05, + "chamfer": 7.747657036816236e-06, + "track": 2.496439265087247e-06, + "acceleration": 2.769537843505532e-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": 1.0802026736200787e-05, + "observation_loss": 1.0532506166782696e-05, + "chamfer": 7.892874236858916e-06, + "track": 2.6396319299237803e-06, + "acceleration": 2.695207399483479e-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": 1.1045716746593826e-05, + "observation_loss": 1.0842085430340376e-05, + "chamfer": 8.044686182984151e-06, + "track": 2.7973990199825494e-06, + "acceleration": 2.0363151520541578e-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": 1.1413156244088896e-05, + "observation_loss": 1.1204614565940574e-05, + "chamfer": 8.24050403025467e-06, + "track": 2.9641100809385534e-06, + "acceleration": 2.085412944552445e-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": 1.1596421245485544e-05, + "observation_loss": 1.14089516500826e-05, + "chamfer": 8.34810907690553e-06, + "track": 3.060842345803394e-06, + "acceleration": 1.8746992225260328e-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": 1.181937477667816e-05, + "observation_loss": 1.1600731340877246e-05, + "chamfer": 8.470027751172893e-06, + "track": 3.130703362330678e-06, + "acceleration": 2.186437058071533e-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": 1.2035312465741299e-05, + "observation_loss": 1.190314651466906e-05, + "chamfer": 8.65807305672206e-06, + "track": 3.2450732305733254e-06, + "acceleration": 1.3216556737916108e-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": 1.2269584658497479e-05, + "observation_loss": 1.218526540469611e-05, + "chamfer": 8.826257726468612e-06, + "track": 3.3590074508538237e-06, + "acceleration": 8.43196019673087e-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": 1.237155720446026e-05, + "observation_loss": 1.2309186786296777e-05, + "chamfer": 8.886012437869795e-06, + "track": 3.4231748031743336e-06, + "acceleration": 6.237030447664438e-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": 1.245404109795345e-05, + "observation_loss": 1.2384767615003511e-05, + "chamfer": 8.939447070588358e-06, + "track": 3.4453205444151536e-06, + "acceleration": 6.927391638100744e-08, + "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": 1.2480561963457149e-05, + "observation_loss": 1.2406495443428867e-05, + "chamfer": 8.929127943702042e-06, + "track": 3.4773677271005e-06, + "acceleration": 7.406659108255553e-08, + "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": 1.247067211807007e-05, + "observation_loss": 1.2427158253558446e-05, + "chamfer": 8.920363143261056e-06, + "track": 3.5067951102973893e-06, + "acceleration": 4.3513519898397135e-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": 1.2540564057417214e-05, + "observation_loss": 1.2403751497913618e-05, + "chamfer": 8.907726623874623e-06, + "track": 3.4960251014126698e-06, + "acceleration": 1.3681274424470757e-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": 1.2521472854132298e-05, + "observation_loss": 1.2392551980155986e-05, + "chamfer": 8.901914043235593e-06, + "track": 3.4906381642940687e-06, + "acceleration": 1.2892077450032957e-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": 1.2383188732201234e-05, + "observation_loss": 1.237130618392257e-05, + "chamfer": 8.872465514286887e-06, + "track": 3.4988408970093587e-06, + "acceleration": 1.1882972827947924e-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": 1.2415489436534699e-05, + "observation_loss": 1.2350114957371261e-05, + "chamfer": 8.849130608723499e-06, + "track": 3.500984348647762e-06, + "acceleration": 6.537453600685694e-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": 1.2487033018260263e-05, + "observation_loss": 1.2348706150078215e-05, + "chamfer": 8.840759619488381e-06, + "track": 3.507946530589834e-06, + "acceleration": 1.3832692502546706e-07, + "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": 1.238708046003012e-05, + "observation_loss": 1.226647691510152e-05, + "chamfer": 8.794550012680702e-06, + "track": 3.4719266750471434e-06, + "acceleration": 1.2060314702466712e-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": 1.215514203067869e-05, + "observation_loss": 1.2115502613596618e-05, + "chamfer": 8.717111086298246e-06, + "track": 3.3983910725510214e-06, + "acceleration": 3.963954853247742e-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": 9.166829992561057e-06, + "chamfer_mean": 6.302546005088061e-06, + "track_mean": 1.804420499536737e-06, + "acceleration_mean": 1.0598634523906192e-06, + "observation_score": 8.106966528013496e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.432634054999653 + }, + "score_arrays_file": "pass_scores/pass_end_0167.npz", + "score_arrays_sha256": "d71e8f1cdab336924a5a940888743f27b67903e59a0543fa9ce98a45209a530b" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0168.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0168.json new file mode 100644 index 0000000000000000000000000000000000000000..966eb3d3c29e1f910f78680dd697b5df9fd6b6ed --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0168.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16128, + "completed_passes": 168, + "snapshot": "pass_end_0168", + "candidate": true, + "snapshot_arrays_sha256": "90bfbea01384c12f33b9b0bc43f457438e399616891c5c9d53855176acfe7db5", + "score": 8.092230402212408e-06, + "score_result": { + "score": 8.092230402212408e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.948320570794749e-06, + 3.2378343348682392e-06, + 3.566813347788411e-06, + 4.183811597613385e-06, + 4.917040314467158e-06, + 5.256895747152157e-06, + 5.20175581186777e-06, + 5.097035227663582e-06, + 4.952660674462095e-06, + 4.955628810421331e-06, + 5.198610779189039e-06, + 5.455462542158784e-06, + 5.6888479775807355e-06, + 5.8343212003819644e-06, + 5.854714800079819e-06, + 5.950446848146385e-06, + 5.810742550238501e-06, + 5.556003088713624e-06, + 5.392741513787769e-06, + 5.3102330639376305e-06, + 5.24974120708066e-06, + 5.101685019326396e-06, + 4.908702067041304e-06, + 4.837307642446831e-06, + 4.944201009493554e-06, + 5.192535354581196e-06, + 5.482003871293273e-06, + 5.678140951204114e-06, + 5.720346507587237e-06, + 5.712010988645488e-06, + 5.654665983456653e-06, + 5.747876457462553e-06, + 5.947174031462055e-06, + 6.177598152135033e-06, + 6.356924131978303e-06, + 6.62476486468222e-06, + 6.902168024680577e-06, + 6.97055611453834e-06, + 6.814618245698512e-06, + 6.772012966393959e-06, + 7.040930086077424e-06, + 7.374806955340318e-06, + 7.513573564210674e-06, + 7.635034307895694e-06, + 7.691660357522778e-06, + 7.704939889663365e-06, + 7.739696229691617e-06, + 8.116942808555905e-06, + 8.74559918884188e-06, + 9.215413228957914e-06, + 9.08774381969124e-06, + 8.790761057753116e-06, + 8.538662768842187e-06, + 8.341432476299815e-06, + 8.304310540552251e-06, + 8.364989298570435e-06, + 8.418356628681067e-06, + 8.45637532620458e-06, + 8.516866728314199e-06, + 8.629880539956503e-06, + 8.7797234300524e-06, + 8.921784683479927e-06, + 9.197229701385368e-06, + 9.55802715907339e-06, + 1.0020022273238283e-05, + 1.0245305020362139e-05, + 1.03852798929438e-05, + 1.0504210877115838e-05, + 1.0555391781963408e-05, + 1.0448216926306486e-05, + 1.0244593795505352e-05, + 1.0194903552473988e-05, + 1.0164202649320941e-05, + 9.99813164526131e-06, + 1.0109877621289343e-05, + 1.0197923984378576e-05, + 1.0207112609350588e-05, + 1.0245579687762074e-05, + 1.0533091881370638e-05, + 1.0843357813428156e-05, + 1.1206724593648687e-05, + 1.1412061212467961e-05, + 1.1602459380810615e-05, + 1.1902225196536165e-05, + 1.2184911611257121e-05, + 1.2309558769629803e-05, + 1.2385094123601448e-05, + 1.2407460417307448e-05, + 1.2428444279066753e-05, + 1.2405557754391339e-05, + 1.2393427823553793e-05, + 1.2373187018965837e-05, + 1.2352978046692442e-05, + 1.2352891644695774e-05, + 1.2271046216483228e-05, + 1.2119193343096413e-05 + ] + ], + "episode_mean_losses": [ + 8.092230402212408e-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": 2.948320570794749e-06, + "observation_loss": 2.948320570794749e-06, + "chamfer": 2.5008455395436613e-06, + "track": 4.474749744076689e-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": 4.2469502659514546e-05, + "observation_loss": 3.2378343348682392e-06, + "chamfer": 2.7390879040467553e-06, + "track": 4.987464876649028e-07, + "acceleration": 3.923166877939366e-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": 2.5281013222411275e-05, + "observation_loss": 3.566813347788411e-06, + "chamfer": 3.0146941298880847e-06, + "track": 5.521192747437453e-07, + "acceleration": 2.171420055674389e-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": 1.18467378342757e-05, + "observation_loss": 4.183811597613385e-06, + "chamfer": 3.510332589939935e-06, + "track": 6.734788939866121e-07, + "acceleration": 7.662926691409666e-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": 9.410025995748583e-06, + "observation_loss": 4.917040314467158e-06, + "chamfer": 4.079635800735559e-06, + "track": 8.374045137315989e-07, + "acceleration": 4.492985681281425e-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": 6.841770300525241e-06, + "observation_loss": 5.256895747152157e-06, + "chamfer": 4.3363997974665835e-06, + "track": 9.204960065289924e-07, + "acceleration": 1.584874780746759e-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": 6.225894139788579e-06, + "observation_loss": 5.20175581186777e-06, + "chamfer": 4.278890628484078e-06, + "track": 9.228649560100166e-07, + "acceleration": 1.0241383279208094e-06, + "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": 5.71787541048252e-06, + "observation_loss": 5.097035227663582e-06, + "chamfer": 4.194111625110963e-06, + "track": 9.029236025526188e-07, + "acceleration": 6.208400122886815e-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": 5.812969448015792e-06, + "observation_loss": 4.952660674462095e-06, + "chamfer": 4.084819920535665e-06, + "track": 8.678409813001053e-07, + "acceleration": 8.603087167102785e-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": 5.5568766583746765e-06, + "observation_loss": 4.955628810421331e-06, + "chamfer": 4.09723179473076e-06, + "track": 8.583971862208273e-07, + "acceleration": 6.012477911099268e-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": 5.520691502169939e-06, + "observation_loss": 5.198610779189039e-06, + "chamfer": 4.3081386138510425e-06, + "track": 8.904722221814154e-07, + "acceleration": 3.220808650894469e-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": 5.779274033557158e-06, + "observation_loss": 5.455462542158784e-06, + "chamfer": 4.5201077227829956e-06, + "track": 9.353548193757888e-07, + "acceleration": 3.238116619286302e-07, + "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": 5.8641953728511e-06, + "observation_loss": 5.6888479775807355e-06, + "chamfer": 4.721513050753856e-06, + "track": 9.673349268268794e-07, + "acceleration": 1.753472389509625e-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": 6.160045813885517e-06, + "observation_loss": 5.8343212003819644e-06, + "chamfer": 4.844768682232825e-06, + "track": 9.89552631835977e-07, + "acceleration": 3.257246419252624e-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": 6.23696496404591e-06, + "observation_loss": 5.854714800079819e-06, + "chamfer": 4.8656825129000936e-06, + "track": 9.890320598060498e-07, + "acceleration": 3.8224999343583477e-07, + "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": 6.165544164105086e-06, + "observation_loss": 5.950446848146385e-06, + "chamfer": 4.944449756294489e-06, + "track": 1.005996978165058e-06, + "acceleration": 2.1509740122382937e-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": 6.039726031303871e-06, + "observation_loss": 5.810742550238501e-06, + "chamfer": 4.828702458326006e-06, + "track": 9.820399782256573e-07, + "acceleration": 2.2898332474596828e-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": 5.913752374908654e-06, + "observation_loss": 5.556003088713624e-06, + "chamfer": 4.621995685738511e-06, + "track": 9.340074029751122e-07, + "acceleration": 3.57749257773321e-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": 5.593315563601209e-06, + "observation_loss": 5.392741513787769e-06, + "chamfer": 4.491387244343059e-06, + "track": 9.013542694447096e-07, + "acceleration": 2.0057414928942308e-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": 5.471232270792825e-06, + "observation_loss": 5.3102330639376305e-06, + "chamfer": 4.423424798005726e-06, + "track": 8.868080954016477e-07, + "acceleration": 1.6099939159630594e-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": 5.49392416360206e-06, + "observation_loss": 5.24974120708066e-06, + "chamfer": 4.374901436676737e-06, + "track": 8.748398840907612e-07, + "acceleration": 2.441829280996899e-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": 5.39333223059657e-06, + "observation_loss": 5.101685019326396e-06, + "chamfer": 4.2569304241624195e-06, + "track": 8.447546520073956e-07, + "acceleration": 2.9164726811359287e-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": 5.100280304759508e-06, + "observation_loss": 4.908702067041304e-06, + "chamfer": 4.102727871213574e-06, + "track": 8.059742526711489e-07, + "acceleration": 1.915781098205116e-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": 4.994188202545047e-06, + "observation_loss": 4.837307642446831e-06, + "chamfer": 4.038246970594628e-06, + "track": 7.990607286956219e-07, + "acceleration": 1.568803327245405e-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": 5.106935532239731e-06, + "observation_loss": 4.944201009493554e-06, + "chamfer": 4.1106322896666825e-06, + "track": 8.335686629834527e-07, + "acceleration": 1.6273440905933967e-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": 5.520254035218386e-06, + "observation_loss": 5.192535354581196e-06, + "chamfer": 4.292384346626932e-06, + "track": 9.001508942674263e-07, + "acceleration": 3.277185669503524e-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": 5.872034307685681e-06, + "observation_loss": 5.482003871293273e-06, + "chamfer": 4.503687705437187e-06, + "track": 9.78316052169248e-07, + "acceleration": 3.900306353443739e-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": 5.957553184998687e-06, + "observation_loss": 5.678140951204114e-06, + "chamfer": 4.654821623262251e-06, + "track": 1.0233191005681874e-06, + "acceleration": 2.7941229063799256e-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": 6.291154932114296e-06, + "observation_loss": 5.720346507587237e-06, + "chamfer": 4.695275947597111e-06, + "track": 1.0250706736769644e-06, + "acceleration": 5.708083676836395e-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": 5.935983608651441e-06, + "observation_loss": 5.712010988645488e-06, + "chamfer": 4.693380105891265e-06, + "track": 1.0186309964410611e-06, + "acceleration": 2.2397274790364463e-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": 5.751401658926625e-06, + "observation_loss": 5.654665983456653e-06, + "chamfer": 4.651862127502682e-06, + "track": 1.0028039696408086e-06, + "acceleration": 9.673557599398919e-08, + "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": 5.875946499145357e-06, + "observation_loss": 5.747876457462553e-06, + "chamfer": 4.723676283902023e-06, + "track": 1.0242000598736922e-06, + "acceleration": 1.280699564176757e-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": 6.057376140233828e-06, + "observation_loss": 5.947174031462055e-06, + "chamfer": 4.881995664618444e-06, + "track": 1.0651781394699356e-06, + "acceleration": 1.1020217982604663e-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": 6.291933459579013e-06, + "observation_loss": 6.177598152135033e-06, + "chamfer": 5.0516537157818675e-06, + "track": 1.1259445500400034e-06, + "acceleration": 1.1433552771222821e-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": 6.466855211328948e-06, + "observation_loss": 6.356924131978303e-06, + "chamfer": 5.191724994801916e-06, + "track": 1.1651989098027116e-06, + "acceleration": 1.0993121435376452e-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": 6.796814432163956e-06, + "observation_loss": 6.62476486468222e-06, + "chamfer": 5.390879323385889e-06, + "track": 1.2338855412963312e-06, + "acceleration": 1.7204975222284702e-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": 6.968788966332795e-06, + "observation_loss": 6.902168024680577e-06, + "chamfer": 5.597959443548461e-06, + "track": 1.304208467445278e-06, + "acceleration": 6.66208705979443e-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": 7.329309482884128e-06, + "observation_loss": 6.97055611453834e-06, + "chamfer": 5.661966952175135e-06, + "track": 1.3085890486763674e-06, + "acceleration": 3.5875328308065946e-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": 6.9774227995367255e-06, + "observation_loss": 6.814618245698512e-06, + "chamfer": 5.562341357290279e-06, + "track": 1.2522770020950702e-06, + "acceleration": 1.6280451120564976e-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": 6.956268407520838e-06, + "observation_loss": 6.772012966393959e-06, + "chamfer": 5.532414434128441e-06, + "track": 1.2395984185786801e-06, + "acceleration": 1.8425539849431516e-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": 7.308291969820857e-06, + "observation_loss": 7.040930086077424e-06, + "chamfer": 5.7338797887496185e-06, + "track": 1.3070501836409676e-06, + "acceleration": 2.673621111171087e-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": 7.5669736361305695e-06, + "observation_loss": 7.374806955340318e-06, + "chamfer": 5.9688395595003385e-06, + "track": 1.4059673958399799e-06, + "acceleration": 1.921668513205077e-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": 7.599799118906958e-06, + "observation_loss": 7.513573564210674e-06, + "chamfer": 6.050865522411186e-06, + "track": 1.4627079281126498e-06, + "acceleration": 8.622546232572859e-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": 7.681846000195947e-06, + "observation_loss": 7.635034307895694e-06, + "chamfer": 6.13071415500599e-06, + "track": 1.5043204939502175e-06, + "acceleration": 4.681143650486774e-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": 7.765745067445096e-06, + "observation_loss": 7.691660357522778e-06, + "chamfer": 6.1655327954213135e-06, + "track": 1.5261277894751402e-06, + "acceleration": 7.408485913629193e-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": 7.811981049599126e-06, + "observation_loss": 7.704939889663365e-06, + "chamfer": 6.174451300466899e-06, + "track": 1.530488589196466e-06, + "acceleration": 1.070411173031971e-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": 7.94711013440974e-06, + "observation_loss": 7.739696229691617e-06, + "chamfer": 6.1970663409738336e-06, + "track": 1.5426298887177836e-06, + "acceleration": 2.0741371997701208e-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": 8.25676579552237e-06, + "observation_loss": 8.116942808555905e-06, + "chamfer": 6.460579243139364e-06, + "track": 1.656363565416541e-06, + "acceleration": 1.3982253221911378e-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": 8.828831596474629e-06, + "observation_loss": 8.74559918884188e-06, + "chamfer": 6.88528689352097e-06, + "track": 1.860312067947234e-06, + "acceleration": 8.323239342189481e-08, + "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": 9.484814654570073e-06, + "observation_loss": 9.215413228957914e-06, + "chamfer": 7.207362159533659e-06, + "track": 2.0080508420505794e-06, + "acceleration": 2.6940168140754395e-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": 9.249089998775162e-06, + "observation_loss": 9.08774381969124e-06, + "chamfer": 7.126564014470205e-06, + "track": 1.961179350473685e-06, + "acceleration": 1.613463496141776e-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": 8.993074516183697e-06, + "observation_loss": 8.790761057753116e-06, + "chamfer": 6.942255367903272e-06, + "track": 1.8485054624761688e-06, + "acceleration": 2.023131742134865e-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": 8.590359357185662e-06, + "observation_loss": 8.538662768842187e-06, + "chamfer": 6.774632765882416e-06, + "track": 1.7640302303334465e-06, + "acceleration": 5.169680505900942e-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": 8.395809345529415e-06, + "observation_loss": 8.341432476299815e-06, + "chamfer": 6.635248155362206e-06, + "track": 1.7061846619981225e-06, + "acceleration": 5.437669869934325e-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": 8.366266229131725e-06, + "observation_loss": 8.304310540552251e-06, + "chamfer": 6.602493613172555e-06, + "track": 1.7018170410665334e-06, + "acceleration": 6.195604385084152e-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": 8.432311915385071e-06, + "observation_loss": 8.364989298570435e-06, + "chamfer": 6.6418210735719185e-06, + "track": 1.7231679976248415e-06, + "acceleration": 6.732220469984895e-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": 8.460886419925373e-06, + "observation_loss": 8.418356628681067e-06, + "chamfer": 6.67858284941758e-06, + "track": 1.7397740066371625e-06, + "acceleration": 4.253015006838723e-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": 8.632971002953127e-06, + "observation_loss": 8.45637532620458e-06, + "chamfer": 6.688576377200661e-06, + "track": 1.7677987216302427e-06, + "acceleration": 1.765961314958986e-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": 8.870677447703201e-06, + "observation_loss": 8.516866728314199e-06, + "chamfer": 6.7319488152861595e-06, + "track": 1.7849176856543636e-06, + "acceleration": 3.5381088991925935e-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": 9.38138964556856e-06, + "observation_loss": 8.629880539956503e-06, + "chamfer": 6.794766704842914e-06, + "track": 1.8351136077399133e-06, + "acceleration": 7.515088782383827e-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": 9.85114456852898e-06, + "observation_loss": 8.7797234300524e-06, + "chamfer": 6.902258519403404e-06, + "track": 1.8774646832753206e-06, + "acceleration": 1.0714214795370935e-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": 9.489759577263612e-06, + "observation_loss": 8.921784683479927e-06, + "chamfer": 7.0038740886957385e-06, + "track": 1.9179103674105136e-06, + "acceleration": 5.679746664100094e-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": 9.401592251379043e-06, + "observation_loss": 9.197229701385368e-06, + "chamfer": 7.194119461928494e-06, + "track": 2.003110012083198e-06, + "acceleration": 2.0436257841538463e-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": 9.70262408372946e-06, + "observation_loss": 9.55802715907339e-06, + "chamfer": 7.423476745316293e-06, + "track": 2.134550868504448e-06, + "acceleration": 1.4459671149325004e-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": 1.0083256711368449e-05, + "observation_loss": 1.0020022273238283e-05, + "chamfer": 7.725476280029397e-06, + "track": 2.294545993208885e-06, + "acceleration": 6.323453050072203e-08, + "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": 1.0299932910129428e-05, + "observation_loss": 1.0245305020362139e-05, + "chamfer": 7.867824024287984e-06, + "track": 2.377480541326804e-06, + "acceleration": 5.4628291223934866e-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": 1.0615969586069696e-05, + "observation_loss": 1.03852798929438e-05, + "chamfer": 7.948881830088794e-06, + "track": 2.436398517602356e-06, + "acceleration": 2.3069007681897347e-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": 1.0648316674632952e-05, + "observation_loss": 1.0504210877115838e-05, + "chamfer": 7.995524356374517e-06, + "track": 2.5086867481149966e-06, + "acceleration": 1.4410616699933598e-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": 1.0645379916240927e-05, + "observation_loss": 1.0555391781963408e-05, + "chamfer": 8.008645636436995e-06, + "track": 2.546745690779062e-06, + "acceleration": 8.998770084645002e-08, + "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": 1.0707742148952093e-05, + "observation_loss": 1.0448216926306486e-05, + "chamfer": 7.935785106383264e-06, + "track": 2.512431819923222e-06, + "acceleration": 2.595249952719314e-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": 1.090143541659927e-05, + "observation_loss": 1.0244593795505352e-05, + "chamfer": 7.812674084561877e-06, + "track": 2.4319197109434754e-06, + "acceleration": 6.568412800334045e-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": 1.060796421370469e-05, + "observation_loss": 1.0194903552473988e-05, + "chamfer": 7.77505829319125e-06, + "track": 2.4198450319090625e-06, + "acceleration": 4.1306086018266797e-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": 1.0981148079736158e-05, + "observation_loss": 1.0164202649320941e-05, + "chamfer": 7.75140415498754e-06, + "track": 2.412798266959726e-06, + "acceleration": 8.169454304152168e-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": 1.3596119970316067e-05, + "observation_loss": 9.99813164526131e-06, + "chamfer": 7.621548320457805e-06, + "track": 2.376582870056154e-06, + "acceleration": 3.5979878703074064e-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": 1.2159825018898118e-05, + "observation_loss": 1.0109877621289343e-05, + "chamfer": 7.713440027146135e-06, + "track": 2.3964373667695327e-06, + "acceleration": 2.049947624982451e-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": 1.078593595593702e-05, + "observation_loss": 1.0197923984378576e-05, + "chamfer": 7.772498975100461e-06, + "track": 2.4254254640254658e-06, + "acceleration": 5.880115168110933e-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": 1.0634174032020383e-05, + "observation_loss": 1.0207112609350588e-05, + "chamfer": 7.745125913061202e-06, + "track": 2.461986923663062e-06, + "acceleration": 4.270612237178284e-07, + "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": 1.0523137461859733e-05, + "observation_loss": 1.0245579687762074e-05, + "chamfer": 7.749181349936407e-06, + "track": 2.4963981104519917e-06, + "acceleration": 2.775575183022738e-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": 1.080714264389826e-05, + "observation_loss": 1.0533091881370638e-05, + "chamfer": 7.89417936175596e-06, + "track": 2.6389122922410024e-06, + "acceleration": 2.740507056842034e-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": 1.1049909517168999e-05, + "observation_loss": 1.0843357813428156e-05, + "chamfer": 8.046551556617487e-06, + "track": 2.7968060294369934e-06, + "acceleration": 2.065515758431502e-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": 1.1416873348935042e-05, + "observation_loss": 1.1206724593648687e-05, + "chamfer": 8.242672265623696e-06, + "track": 2.96405187327764e-06, + "acceleration": 2.1014832896071312e-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": 1.1604561223066412e-05, + "observation_loss": 1.1412061212467961e-05, + "chamfer": 8.351180440513417e-06, + "track": 3.0608812267018948e-06, + "acceleration": 1.9249979743563017e-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": 1.1817560334748123e-05, + "observation_loss": 1.1602459380810615e-05, + "chamfer": 8.472331501252484e-06, + "track": 3.1301276521844557e-06, + "acceleration": 2.151009965700723e-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": 1.2028912351524923e-05, + "observation_loss": 1.1902225196536165e-05, + "chamfer": 8.658495062263682e-06, + "track": 3.2437303616461577e-06, + "acceleration": 1.2668697024764697e-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": 1.2270367733435705e-05, + "observation_loss": 1.2184911611257121e-05, + "chamfer": 8.82731364981737e-06, + "track": 3.357597961439751e-06, + "acceleration": 8.545570295837024e-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": 1.2371866432658862e-05, + "observation_loss": 1.2309558769629803e-05, + "chamfer": 8.88764679984888e-06, + "track": 3.421911969780922e-06, + "acceleration": 6.230782645388899e-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": 1.2455520845833234e-05, + "observation_loss": 1.2385094123601448e-05, + "chamfer": 8.94114600669127e-06, + "track": 3.4439481169101782e-06, + "acceleration": 7.042712724114608e-08, + "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": 1.2483438695198856e-05, + "observation_loss": 1.2407460417307448e-05, + "chamfer": 8.931131560530048e-06, + "track": 3.4763286294037243e-06, + "acceleration": 7.597815709914357e-08, + "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": 1.2472693015297409e-05, + "observation_loss": 1.2428444279066753e-05, + "chamfer": 8.922528650145978e-06, + "track": 3.5059154015470995e-06, + "acceleration": 4.424875044151122e-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": 1.254226026503602e-05, + "observation_loss": 1.2405557754391339e-05, + "chamfer": 8.910516953619663e-06, + "track": 3.4950410281453514e-06, + "acceleration": 1.3670288012690435e-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": 1.2522692486527376e-05, + "observation_loss": 1.2393427823553793e-05, + "chamfer": 8.903915841074195e-06, + "track": 3.489512209853274e-06, + "acceleration": 1.2926483350383933e-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": 1.2385247828206047e-05, + "observation_loss": 1.2373187018965837e-05, + "chamfer": 8.87482656253269e-06, + "track": 3.4983606838068226e-06, + "acceleration": 1.2060967335969508e-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": 1.2418888218235224e-05, + "observation_loss": 1.2352978046692442e-05, + "chamfer": 8.852354767441284e-06, + "track": 3.5006235066248337e-06, + "acceleration": 6.5910562341287e-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": 1.2492409950937144e-05, + "observation_loss": 1.2352891644695774e-05, + "chamfer": 8.844872354529798e-06, + "track": 3.508019517539651e-06, + "acceleration": 1.3951806465684058e-07, + "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": 1.2391833479341585e-05, + "observation_loss": 1.2271046216483228e-05, + "chamfer": 8.799072020337917e-06, + "track": 3.47197374139796e-06, + "acceleration": 1.207874618103233e-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": 1.2158973731857259e-05, + "observation_loss": 1.2119193343096413e-05, + "chamfer": 8.721066478756256e-06, + "track": 3.398126636966481e-06, + "acceleration": 3.9779983751486725e-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": 9.155678036165682e-06, + "chamfer_mean": 6.291622393443201e-06, + "track_mean": 1.8006079750184274e-06, + "acceleration_mean": 1.0634476447409409e-06, + "observation_score": 8.092230402212408e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4308754760004376 + }, + "score_arrays_file": "pass_scores/pass_end_0168.npz", + "score_arrays_sha256": "6cbb16e30acb9277049d5c5ff4ec7ab41d094ca2b8e3b4ae26d29981fab798dc" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0169.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0169.json new file mode 100644 index 0000000000000000000000000000000000000000..51f1b753aef0f69fa9ee30badf75136948f8da73 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0169.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16224, + "completed_passes": 169, + "snapshot": "pass_end_0169", + "candidate": true, + "snapshot_arrays_sha256": "782b2eba5d6352eb091acfcc601c290e91d66e6ccd5f68ba51ee481c5881b56c", + "score": 8.077603659728538e-06, + "score_result": { + "score": 8.077603659728538e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9480031571438303e-06, + 3.2360117074858863e-06, + 3.5628722798719537e-06, + 4.172853550699074e-06, + 4.9009377107722685e-06, + 5.236843207967468e-06, + 5.17849684911198e-06, + 5.072276508144569e-06, + 4.929704118694644e-06, + 4.935823199048173e-06, + 5.181753294891678e-06, + 5.441316716314759e-06, + 5.674199655913981e-06, + 5.8186001297144685e-06, + 5.8368682402942795e-06, + 5.929792678216472e-06, + 5.790435352537315e-06, + 5.53727704755147e-06, + 5.375873570301337e-06, + 5.292459718475584e-06, + 5.23000608154689e-06, + 5.081876224721782e-06, + 4.892899596597999e-06, + 4.822734354092972e-06, + 4.9271643547399435e-06, + 5.170993517822353e-06, + 5.461132332129637e-06, + 5.658654572471278e-06, + 5.700677320419345e-06, + 5.698342192772543e-06, + 5.643675194733078e-06, + 5.7380052567168605e-06, + 5.937139576417394e-06, + 6.165343620523345e-06, + 6.3418187892239075e-06, + 6.605605449294671e-06, + 6.882857633172534e-06, + 6.953136107767932e-06, + 6.794421551603591e-06, + 6.745369319105521e-06, + 7.009592536633136e-06, + 7.343021934502758e-06, + 7.481646662199637e-06, + 7.602756340929773e-06, + 7.65965614846209e-06, + 7.673078471270856e-06, + 7.709191777394153e-06, + 8.086178240773734e-06, + 8.712187081982847e-06, + 9.181566383631434e-06, + 9.0549938249751e-06, + 8.75968089530943e-06, + 8.508561222697608e-06, + 8.313535545312334e-06, + 8.278233508463018e-06, + 8.339960913872346e-06, + 8.39525273477193e-06, + 8.433801667706575e-06, + 8.494628673361149e-06, + 8.608173629909288e-06, + 8.757579053053632e-06, + 8.89975854079239e-06, + 9.175339073408395e-06, + 9.536988727631979e-06, + 9.99934763967758e-06, + 1.0226511221844703e-05, + 1.036906451190589e-05, + 1.0490331987966783e-05, + 1.054299900715705e-05, + 1.0437202945468016e-05, + 1.02356407296611e-05, + 1.0187710358877666e-05, + 1.0159880730498116e-05, + 9.994296306103934e-06, + 1.0112992640642915e-05, + 1.0202295015915297e-05, + 1.0211157132289372e-05, + 1.0248769285681192e-05, + 1.0535101864661556e-05, + 1.0845756150956731e-05, + 1.1209215699636843e-05, + 1.141641587310005e-05, + 1.1603869097598363e-05, + 1.1900317986146547e-05, + 1.218404941027984e-05, + 1.2309572412050329e-05, + 1.2385002264636569e-05, + 1.2407621397869661e-05, + 1.2429045455064625e-05, + 1.240644087374676e-05, + 1.23950212582713e-05, + 1.2375207916193176e-05, + 1.2355492799542844e-05, + 1.2356129445834085e-05, + 1.2274667824385688e-05, + 1.212320876220474e-05 + ] + ], + "episode_mean_losses": [ + 8.077603659728538e-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": 2.9480031571438303e-06, + "observation_loss": 2.9480031571438303e-06, + "chamfer": 2.5005870156746823e-06, + "track": 4.47416141469148e-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": 4.243338844389655e-05, + "observation_loss": 3.2360117074858863e-06, + "chamfer": 2.737541080932715e-06, + "track": 4.984705697097525e-07, + "acceleration": 3.919737719115801e-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": 2.524682531657163e-05, + "observation_loss": 3.5628722798719537e-06, + "chamfer": 3.011469061675598e-06, + "track": 5.514031613529369e-07, + "acceleration": 2.1683952581952326e-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": 1.1822615306300577e-05, + "observation_loss": 4.172853550699074e-06, + "chamfer": 3.5017299069295404e-06, + "track": 6.711237006129522e-07, + "acceleration": 7.649761755601503e-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": 9.389895240019541e-06, + "observation_loss": 4.9009377107722685e-06, + "chamfer": 4.067631834914209e-06, + "track": 8.333058758580592e-07, + "acceleration": 4.488957529247273e-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": 6.821230272180401e-06, + "observation_loss": 5.236843207967468e-06, + "chamfer": 4.321999313106062e-06, + "track": 9.148437243311491e-07, + "acceleration": 1.584387177899771e-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": 6.203633802215336e-06, + "observation_loss": 5.17849684911198e-06, + "chamfer": 4.262691163603449e-06, + "track": 9.158057991953683e-07, + "acceleration": 1.025136953103356e-06, + "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": 5.688253168045776e-06, + "observation_loss": 5.072276508144569e-06, + "chamfer": 4.176667061983608e-06, + "track": 8.956096166912175e-07, + "acceleration": 6.159766599012073e-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": 5.780530500487657e-06, + "observation_loss": 4.929704118694644e-06, + "chamfer": 4.068649104738142e-06, + "track": 8.610548434262455e-07, + "acceleration": 8.508264954798506e-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": 5.5297964536293875e-06, + "observation_loss": 4.935823199048173e-06, + "chamfer": 4.083563453605166e-06, + "track": 8.522599728166824e-07, + "acceleration": 5.939734251114714e-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": 5.49816695638583e-06, + "observation_loss": 5.181753294891678e-06, + "chamfer": 4.296678525861353e-06, + "track": 8.850748827171628e-07, + "acceleration": 3.1641386044611863e-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": 5.755282018071739e-06, + "observation_loss": 5.441316716314759e-06, + "chamfer": 4.510596681939205e-06, + "track": 9.30720034375554e-07, + "acceleration": 3.139655007089459e-07, + "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": 5.844187398906797e-06, + "observation_loss": 5.674199655913981e-06, + "chamfer": 4.71149633085588e-06, + "track": 9.627034387449385e-07, + "acceleration": 1.6998772878196178e-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": 6.140113782748813e-06, + "observation_loss": 5.8186001297144685e-06, + "chamfer": 4.833535513171228e-06, + "track": 9.850646165432408e-07, + "acceleration": 3.2151351092579716e-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": 6.2037033785600215e-06, + "observation_loss": 5.8368682402942795e-06, + "chamfer": 4.8524293561058585e-06, + "track": 9.844389978752588e-07, + "acceleration": 3.6683530879599857e-07, + "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": 6.137580385257024e-06, + "observation_loss": 5.929792678216472e-06, + "chamfer": 4.92869639856508e-06, + "track": 1.0010960522777168e-06, + "acceleration": 2.0778792020337278e-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": 6.020381078997161e-06, + "observation_loss": 5.790435352537315e-06, + "chamfer": 4.813138730241917e-06, + "track": 9.77296735982236e-07, + "acceleration": 2.299456411947176e-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": 5.893961770198075e-06, + "observation_loss": 5.53727704755147e-06, + "chamfer": 4.6073760131548624e-06, + "track": 9.299009207097697e-07, + "acceleration": 3.566847226466052e-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": 5.577272986556636e-06, + "observation_loss": 5.375873570301337e-06, + "chamfer": 4.478037226363085e-06, + "track": 8.978364007816708e-07, + "acceleration": 2.0139930256846128e-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": 5.455374775920063e-06, + "observation_loss": 5.292459718475584e-06, + "chamfer": 4.409153461892856e-06, + "track": 8.833060292090522e-07, + "acceleration": 1.6291528481815476e-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": 5.475865691551007e-06, + "observation_loss": 5.23000608154689e-06, + "chamfer": 4.358983915153658e-06, + "track": 8.710221095498127e-07, + "acceleration": 2.458595815824083e-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": 5.375416094466345e-06, + "observation_loss": 5.081876224721782e-06, + "chamfer": 4.240837824909249e-06, + "track": 8.410381724388571e-07, + "acceleration": 2.935400686965295e-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": 5.085104476165725e-06, + "observation_loss": 4.892899596597999e-06, + "chamfer": 4.089817593921907e-06, + "track": 8.030818321458355e-07, + "acceleration": 1.9220473745917843e-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": 4.980870016879635e-06, + "observation_loss": 4.822734354092972e-06, + "chamfer": 4.026314854854718e-06, + "track": 7.964193287079979e-07, + "acceleration": 1.581358759494833e-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": 5.091451384942047e-06, + "observation_loss": 4.9271643547399435e-06, + "chamfer": 4.0969421206682455e-06, + "track": 8.30222234071698e-07, + "acceleration": 1.6428690230441134e-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": 5.498506197909592e-06, + "observation_loss": 5.170993517822353e-06, + "chamfer": 4.275091214367421e-06, + "track": 8.959021329246752e-07, + "acceleration": 3.275126232438197e-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": 5.853688890056219e-06, + "observation_loss": 5.461132332129637e-06, + "chamfer": 4.487043497647392e-06, + "track": 9.740887207954074e-07, + "acceleration": 3.925563873963256e-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": 5.934827640885487e-06, + "observation_loss": 5.658654572471278e-06, + "chamfer": 4.639182407117914e-06, + "track": 1.019472279040201e-06, + "acceleration": 2.7617301157079055e-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": 6.269151526794303e-06, + "observation_loss": 5.700677320419345e-06, + "chamfer": 4.6793420551694e-06, + "track": 1.0213350378762698e-06, + "acceleration": 5.68474263218377e-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": 5.92165042689885e-06, + "observation_loss": 5.698342192772543e-06, + "chamfer": 4.682136932387948e-06, + "track": 1.0162051466977573e-06, + "acceleration": 2.2330819149374292e-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": 5.740454525948735e-06, + "observation_loss": 5.643675194733078e-06, + "chamfer": 4.642772182705812e-06, + "track": 1.0009028983404278e-06, + "acceleration": 9.677943779706766e-08, + "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": 5.872222573088948e-06, + "observation_loss": 5.7380052567168605e-06, + "chamfer": 4.715572231361875e-06, + "track": 1.0224329116681474e-06, + "acceleration": 1.342171032092665e-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": 6.047841452527791e-06, + "observation_loss": 5.937139576417394e-06, + "chamfer": 4.873821126238909e-06, + "track": 1.0633186775521608e-06, + "acceleration": 1.1070168426385862e-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": 6.2781105043541174e-06, + "observation_loss": 6.165343620523345e-06, + "chamfer": 5.041763415647438e-06, + "track": 1.1235799775022315e-06, + "acceleration": 1.1276666356252463e-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": 6.4516730162722524e-06, + "observation_loss": 6.3418187892239075e-06, + "chamfer": 5.179737854632549e-06, + "track": 1.1620809345913585e-06, + "acceleration": 1.0985417731035341e-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": 6.7768805820378475e-06, + "observation_loss": 6.605605449294671e-06, + "chamfer": 5.3755197768623475e-06, + "track": 1.2300857861191616e-06, + "acceleration": 1.7127527485172322e-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": 6.950112037884537e-06, + "observation_loss": 6.882857633172534e-06, + "chamfer": 5.582416633842513e-06, + "track": 1.3004408856431837e-06, + "acceleration": 6.725444734456687e-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": 7.312400157388765e-06, + "observation_loss": 6.953136107767932e-06, + "chamfer": 5.647940724884393e-06, + "track": 1.305195155509864e-06, + "acceleration": 3.592641917293804e-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": 6.956758170417743e-06, + "observation_loss": 6.794421551603591e-06, + "chamfer": 5.546051397686824e-06, + "track": 1.2483702676036046e-06, + "acceleration": 1.62336505127314e-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": 6.929304618097376e-06, + "observation_loss": 6.745369319105521e-06, + "chamfer": 5.511126346391393e-06, + "track": 1.2342427453404525e-06, + "acceleration": 1.8393538425698353e-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": 7.277423264895333e-06, + "observation_loss": 7.009592536633136e-06, + "chamfer": 5.709343440685188e-06, + "track": 1.3002490959479474e-06, + "acceleration": 2.678307282621972e-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": 7.536137673014309e-06, + "observation_loss": 7.343021934502758e-06, + "chamfer": 5.944188160356134e-06, + "track": 1.3988335467729485e-06, + "acceleration": 1.9311562482471345e-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": 7.567891316284658e-06, + "observation_loss": 7.481646662199637e-06, + "chamfer": 6.026050414220663e-06, + "track": 1.4555963616658119e-06, + "acceleration": 8.624476066643183e-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": 7.64936521591153e-06, + "observation_loss": 7.602756340929773e-06, + "chamfer": 6.1058976825734135e-06, + "track": 1.4968588857300347e-06, + "acceleration": 4.660877195306057e-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": 7.73379815655062e-06, + "observation_loss": 7.65965614846209e-06, + "chamfer": 6.14094869888504e-06, + "track": 1.518707563263888e-06, + "acceleration": 7.414224967305927e-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": 7.780810847179964e-06, + "observation_loss": 7.673078471270856e-06, + "chamfer": 6.1499122239183635e-06, + "track": 1.5231661336656543e-06, + "acceleration": 1.0773214853543323e-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": 7.916847607702948e-06, + "observation_loss": 7.709191777394153e-06, + "chamfer": 6.173652309371391e-06, + "track": 1.5355399227701128e-06, + "acceleration": 2.0765590136306855e-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": 8.226809768530075e-06, + "observation_loss": 8.086178240773734e-06, + "chamfer": 6.437199772335589e-06, + "track": 1.6489786958118202e-06, + "acceleration": 1.4063139985864836e-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": 8.795454050414264e-06, + "observation_loss": 8.712187081982847e-06, + "chamfer": 6.860304893052671e-06, + "track": 1.8518825299906894e-06, + "acceleration": 8.32673023865027e-08, + "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": 9.451398000237532e-06, + "observation_loss": 9.181566383631434e-06, + "chamfer": 7.1826552812126465e-06, + "track": 1.9989111024187878e-06, + "acceleration": 2.6983150291925995e-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": 9.216856597049627e-06, + "observation_loss": 9.0549938249751e-06, + "chamfer": 7.102554718585452e-06, + "track": 1.952439333763323e-06, + "acceleration": 1.6186287155051104e-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": 8.962988431449048e-06, + "observation_loss": 8.75968089530943e-06, + "chamfer": 6.9191455622785725e-06, + "track": 1.8405352193440194e-06, + "acceleration": 2.0330750771790917e-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": 8.56074348121183e-06, + "observation_loss": 8.508561222697608e-06, + "chamfer": 6.751936325599672e-06, + "track": 1.7566250107847736e-06, + "acceleration": 5.218227627779015e-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": 8.367932423425373e-06, + "observation_loss": 8.313535545312334e-06, + "chamfer": 6.614023732254282e-06, + "track": 1.6995121541185654e-06, + "acceleration": 5.4396590343230855e-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": 8.339807209267747e-06, + "observation_loss": 8.278233508463018e-06, + "chamfer": 6.582608875760343e-06, + "track": 1.6956241779553238e-06, + "acceleration": 6.157386422955824e-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": 8.406857887166552e-06, + "observation_loss": 8.339960913872346e-06, + "chamfer": 6.622793080168776e-06, + "track": 1.7171676063298946e-06, + "acceleration": 6.689673881510316e-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": 8.436698408331722e-06, + "observation_loss": 8.39525273477193e-06, + "chamfer": 6.661161023657769e-06, + "track": 1.7340920521746739e-06, + "acceleration": 4.1445570531095655e-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": 8.610117220086977e-06, + "observation_loss": 8.433801667706575e-06, + "chamfer": 6.671787559753284e-06, + "track": 1.7620139942664537e-06, + "acceleration": 1.7631525395245262e-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": 8.848629477142822e-06, + "observation_loss": 8.494628673361149e-06, + "chamfer": 6.715698873449583e-06, + "track": 1.7789301409720792e-06, + "acceleration": 3.540008890468016e-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": 9.36181822908111e-06, + "observation_loss": 8.608173629909288e-06, + "chamfer": 6.7792930167343e-06, + "track": 1.8288807268618257e-06, + "acceleration": 7.536449402323342e-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": 9.833999683905859e-06, + "observation_loss": 8.757579053053632e-06, + "chamfer": 6.886506525916047e-06, + "track": 1.8710728681980981e-06, + "acceleration": 1.0764205171653884e-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": 9.470527402299922e-06, + "observation_loss": 8.89975854079239e-06, + "chamfer": 6.988210770941805e-06, + "track": 1.9115473151032347e-06, + "acceleration": 5.707689183509501e-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": 9.381191375723574e-06, + "observation_loss": 9.175339073408395e-06, + "chamfer": 7.178719442890724e-06, + "track": 1.996619630517671e-06, + "acceleration": 2.0585213178492268e-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": 9.683367352408823e-06, + "observation_loss": 9.536988727631979e-06, + "chamfer": 7.408733836200554e-06, + "track": 2.1282553461787757e-06, + "acceleration": 1.463783121380402e-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": 1.0062955880130176e-05, + "observation_loss": 9.99934763967758e-06, + "chamfer": 7.71087798057124e-06, + "track": 2.288469431732665e-06, + "acceleration": 6.360779281067153e-08, + "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": 1.0281310096615925e-05, + "observation_loss": 1.0226511221844703e-05, + "chamfer": 7.854659997974522e-06, + "track": 2.371851451243856e-06, + "acceleration": 5.4799247806158746e-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": 1.0600059795251582e-05, + "observation_loss": 1.036906451190589e-05, + "chamfer": 7.937561349535827e-06, + "track": 2.431503389743739e-06, + "acceleration": 2.3099565282791445e-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": 1.0634757018124219e-05, + "observation_loss": 1.0490331987966783e-05, + "chamfer": 7.98584096628474e-06, + "track": 2.5044910216820426e-06, + "acceleration": 1.444247743620508e-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": 1.0633114470692817e-05, + "observation_loss": 1.054299900715705e-05, + "chamfer": 7.999869012564886e-06, + "track": 2.543129539844813e-06, + "acceleration": 9.011503721012559e-08, + "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": 1.0697121069824789e-05, + "observation_loss": 1.0437202945468016e-05, + "chamfer": 7.927885235403664e-06, + "track": 2.5093172553170007e-06, + "acceleration": 2.5991820962190104e-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": 1.089357101591304e-05, + "observation_loss": 1.02356407296611e-05, + "chamfer": 7.806301255186554e-06, + "track": 2.4293394744745456e-06, + "acceleration": 6.579300588782644e-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": 1.0601235771900974e-05, + "observation_loss": 1.0187710358877666e-05, + "chamfer": 7.76988690631697e-06, + "track": 2.417822997813346e-06, + "acceleration": 4.135252140713419e-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": 1.1028878361685202e-05, + "observation_loss": 1.0159880730498116e-05, + "chamfer": 7.748244570393581e-06, + "track": 2.41163593273086e-06, + "acceleration": 8.68997233283153e-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": 1.3806404240312986e-05, + "observation_loss": 9.994296306103934e-06, + "chamfer": 7.618536983500235e-06, + "track": 2.3757595499773743e-06, + "acceleration": 3.812107706835377e-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": 1.226925178343663e-05, + "observation_loss": 1.0112992640642915e-05, + "chamfer": 7.715080755588133e-06, + "track": 2.3979116576811066e-06, + "acceleration": 2.156259142793715e-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": 1.0823472621268593e-05, + "observation_loss": 1.0202295015915297e-05, + "chamfer": 7.775287485856097e-06, + "track": 2.4270075300591998e-06, + "acceleration": 6.211778327269712e-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": 1.0655412552296184e-05, + "observation_loss": 1.0211157132289372e-05, + "chamfer": 7.747843483230099e-06, + "track": 2.463314103806624e-06, + "acceleration": 4.442552210548456e-07, + "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": 1.052926654665498e-05, + "observation_loss": 1.0248769285681192e-05, + "chamfer": 7.751826160529163e-06, + "track": 2.496943125152029e-06, + "acceleration": 2.8049731781720766e-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": 1.0813535482157022e-05, + "observation_loss": 1.0535101864661556e-05, + "chamfer": 7.896423994679935e-06, + "track": 2.638677642607945e-06, + "acceleration": 2.7843390171256033e-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": 1.1058024028898217e-05, + "observation_loss": 1.0845756150956731e-05, + "chamfer": 8.049317330005579e-06, + "track": 2.796438593577477e-06, + "acceleration": 2.1226766477866477e-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": 1.1440005437179934e-05, + "observation_loss": 1.1209215699636843e-05, + "chamfer": 8.245053322752938e-06, + "track": 2.9641623768839054e-06, + "acceleration": 2.3078951016941573e-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": 1.1621888006629888e-05, + "observation_loss": 1.141641587310005e-05, + "chamfer": 8.355035788554233e-06, + "track": 3.0613796297984663e-06, + "acceleration": 2.0547251722291549e-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": 1.1812996490334626e-05, + "observation_loss": 1.1603869097598363e-05, + "chamfer": 8.474551577819511e-06, + "track": 3.129317292405176e-06, + "acceleration": 2.0912706588660512e-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": 1.2019272617180832e-05, + "observation_loss": 1.1900317986146547e-05, + "chamfer": 8.658402293804102e-06, + "track": 3.24191546496877e-06, + "acceleration": 1.1895428997377167e-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": 1.2270785191503819e-05, + "observation_loss": 1.218404941027984e-05, + "chamfer": 8.828194950183388e-06, + "track": 3.355854232722777e-06, + "acceleration": 8.673556095573076e-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": 1.2371482625894714e-05, + "observation_loss": 1.2309572412050329e-05, + "chamfer": 8.889100172382314e-06, + "track": 3.4204726944153663e-06, + "acceleration": 6.191022805523971e-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": 1.2455971955205314e-05, + "observation_loss": 1.2385002264636569e-05, + "chamfer": 8.942615750129335e-06, + "track": 3.442386969254585e-06, + "acceleration": 7.096952003848855e-08, + "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": 1.2484637409215793e-05, + "observation_loss": 1.2407621397869661e-05, + "chamfer": 8.932683158491272e-06, + "track": 3.4749380120047135e-06, + "acceleration": 7.701630266865322e-08, + "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": 1.247387353942031e-05, + "observation_loss": 1.2429045455064625e-05, + "chamfer": 8.924429494072683e-06, + "track": 3.5046159609919414e-06, + "acceleration": 4.4828251333228764e-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": 1.254397830052767e-05, + "observation_loss": 1.240644087374676e-05, + "chamfer": 8.912754310586024e-06, + "track": 3.4936863357870607e-06, + "acceleration": 1.375371567746697e-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": 1.2525462807388976e-05, + "observation_loss": 1.23950212582713e-05, + "chamfer": 8.906472430680878e-06, + "track": 3.4885486002167454e-06, + "acceleration": 1.3044179070220707e-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": 1.2388033610477578e-05, + "observation_loss": 1.2375207916193176e-05, + "chamfer": 8.877526852302253e-06, + "track": 3.4976812912645983e-06, + "acceleration": 1.2825523754145252e-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": 1.2422289728419855e-05, + "observation_loss": 1.2355492799542844e-05, + "chamfer": 8.85553345142398e-06, + "track": 3.499958893371513e-06, + "acceleration": 6.679700703671188e-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": 1.2496973795350641e-05, + "observation_loss": 1.2356129445834085e-05, + "chamfer": 8.84862856764812e-06, + "track": 3.507500878185965e-06, + "acceleration": 1.4084417898629908e-07, + "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": 1.2396177226037253e-05, + "observation_loss": 1.2274667824385688e-05, + "chamfer": 8.803297532722354e-06, + "track": 3.4713705190370092e-06, + "acceleration": 1.2150934480814612e-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": 1.2162880011601374e-05, + "observation_loss": 1.212320876220474e-05, + "chamfer": 8.725422048883047e-06, + "track": 3.3977867133216932e-06, + "acceleration": 3.967167572227481e-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": 9.144635799411086e-06, + "chamfer_mean": 6.280776590964858e-06, + "track_mean": 1.7968270492237555e-06, + "acceleration_mean": 1.0670321225851136e-06, + "observation_score": 8.077603659728538e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4162883839999267 + }, + "score_arrays_file": "pass_scores/pass_end_0169.npz", + "score_arrays_sha256": "8c5d6756c5d53ebab96a8f8343a3b5c38418c096eb05b0d154a976558d7c66ae" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0170.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0170.json new file mode 100644 index 0000000000000000000000000000000000000000..ae7d3bd44e44325250b215988eb37b0a36b3ab54 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0170.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16320, + "completed_passes": 170, + "snapshot": "pass_end_0170", + "candidate": true, + "snapshot_arrays_sha256": "55a5ac3c61cdffe8b9dccf568eb8d84bf88475a701afecfe41a542eae021a29d", + "score": 8.059943501355823e-06, + "score_result": { + "score": 8.059943501355823e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.947619350379682e-06, + 3.234212954339455e-06, + 3.558894150046399e-06, + 4.162010100117186e-06, + 4.885405815002741e-06, + 5.217280886427034e-06, + 5.15558167535346e-06, + 5.0475841817387845e-06, + 4.907264155917801e-06, + 4.916279067401774e-06, + 5.16446652909508e-06, + 5.427627002063673e-06, + 5.6601338656037115e-06, + 5.803198291687295e-06, + 5.8190285017190035e-06, + 5.909329956921283e-06, + 5.769901690655388e-06, + 5.517986210179515e-06, + 5.3587773436447605e-06, + 5.275116109260125e-06, + 5.2111772674834356e-06, + 5.062818217993481e-06, + 4.877733772445936e-06, + 4.807991899724584e-06, + 4.910568350169342e-06, + 5.150106517248787e-06, + 5.4412671488535125e-06, + 5.63940329811885e-06, + 5.681694801751291e-06, + 5.685720680048689e-06, + 5.633271939586848e-06, + 5.728024916606955e-06, + 5.927874553890433e-06, + 6.153674803499598e-06, + 6.3269349084293935e-06, + 6.586654308193829e-06, + 6.8633512455562595e-06, + 6.9352145146694966e-06, + 6.773491350031691e-06, + 6.7182227212470025e-06, + 6.977280463615898e-06, + 7.311247827601619e-06, + 7.449220447597327e-06, + 7.570481102447957e-06, + 7.6274964158074e-06, + 7.641314368811436e-06, + 7.678509973629843e-06, + 8.055312719079666e-06, + 8.680490282131359e-06, + 9.149162906396668e-06, + 9.022415724757593e-06, + 8.72769578563748e-06, + 8.476009497826453e-06, + 8.28161500976421e-06, + 8.246571269410197e-06, + 8.308415999636054e-06, + 8.364602763322182e-06, + 8.403821993852034e-06, + 8.464840902888682e-06, + 8.578647793910932e-06, + 8.728102329769172e-06, + 8.869369594322052e-06, + 9.145653166342527e-06, + 9.50846697378438e-06, + 9.971658073482104e-06, + 1.020065974444151e-05, + 1.0345946066081524e-05, + 1.0470114830241073e-05, + 1.0524385288590565e-05, + 1.0419728823762853e-05, + 1.0219420801149681e-05, + 1.017212252918398e-05, + 1.0146392924070824e-05, + 9.979465176002122e-06, + 1.010417145153042e-05, + 1.0195008144364692e-05, + 1.0205183571088128e-05, + 1.0243325050396379e-05, + 1.05290710052941e-05, + 1.0841432413144503e-05, + 1.1205822374904528e-05, + 1.1414893378969282e-05, + 1.1600462130445521e-05, + 1.1893817827512976e-05, + 1.2178075849078596e-05, + 1.2304430129006505e-05, + 1.2379121471894905e-05, + 1.2401954336382914e-05, + 1.242404141521547e-05, + 1.2401565982145257e-05, + 1.2390705705911387e-05, + 1.2370850527076982e-05, + 1.2352866178844124e-05, + 1.2354243153822608e-05, + 1.2272768799448386e-05, + 1.2121230611228384e-05 + ] + ], + "episode_mean_losses": [ + 8.059943501355823e-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": 2.947619350379682e-06, + "observation_loss": 2.947619350379682e-06, + "chamfer": 2.500271875760518e-06, + "track": 4.4734747461916413e-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": 4.2400504753459245e-05, + "observation_loss": 3.234212954339455e-06, + "chamfer": 2.7360156309441663e-06, + "track": 4.981972665518697e-07, + "acceleration": 3.916629066225141e-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": 2.5211866159224883e-05, + "observation_loss": 3.558894150046399e-06, + "chamfer": 3.00820761367504e-06, + "track": 5.506865932147775e-07, + "acceleration": 2.1652971554431133e-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": 1.1795593309216201e-05, + "observation_loss": 4.162010100117186e-06, + "chamfer": 3.493188842185191e-06, + "track": 6.688211442451575e-07, + "acceleration": 7.633582754351664e-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": 9.366603990201838e-06, + "observation_loss": 4.885405815002741e-06, + "chamfer": 4.056027137266938e-06, + "track": 8.293788482660602e-07, + "acceleration": 4.481197720451746e-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": 6.801203198847361e-06, + "observation_loss": 5.217280886427034e-06, + "chamfer": 4.307890776544809e-06, + "track": 9.093902804124809e-07, + "acceleration": 1.5839225397940027e-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": 6.185363872646121e-06, + "observation_loss": 5.15558167535346e-06, + "chamfer": 4.246664047968807e-06, + "track": 9.089178547583288e-07, + "acceleration": 1.0297820836058236e-06, + "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": 5.6592966757307295e-06, + "observation_loss": 5.0475841817387845e-06, + "chamfer": 4.159104264545022e-06, + "track": 8.884799740371818e-07, + "acceleration": 6.117123803051072e-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": 5.751151547883637e-06, + "observation_loss": 4.907264155917801e-06, + "chamfer": 4.0528357203584164e-06, + "track": 8.5442866293306e-07, + "acceleration": 8.438872782789986e-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": 5.504588443727698e-06, + "observation_loss": 4.916279067401774e-06, + "chamfer": 4.070020622748416e-06, + "track": 8.462586720270338e-07, + "acceleration": 5.883094900127617e-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": 5.475375473906752e-06, + "observation_loss": 5.16446652909508e-06, + "chamfer": 4.284795977582689e-06, + "track": 8.796704946689715e-07, + "acceleration": 3.1090871743799653e-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": 5.731903456762666e-06, + "observation_loss": 5.427627002063673e-06, + "chamfer": 4.501450348470826e-06, + "track": 9.261768809665227e-07, + "acceleration": 3.0427659680754005e-07, + "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": 5.824983418278862e-06, + "observation_loss": 5.6601338656037115e-06, + "chamfer": 4.701853868027683e-06, + "track": 9.582799975760281e-07, + "acceleration": 1.648493253014749e-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": 6.1191749409772456e-06, + "observation_loss": 5.803198291687295e-06, + "chamfer": 4.822521077585407e-06, + "track": 9.806769867282128e-07, + "acceleration": 3.1597676297678845e-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": 6.1712962633464485e-06, + "observation_loss": 5.8190285017190035e-06, + "chamfer": 4.839125267608324e-06, + "track": 9.799032341106795e-07, + "acceleration": 3.5226781847086386e-07, + "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": 6.110718459240161e-06, + "observation_loss": 5.909329956921283e-06, + "chamfer": 4.913073098578025e-06, + "track": 9.962568583432585e-07, + "acceleration": 2.0138838863204e-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": 6.000472694722703e-06, + "observation_loss": 5.769901690655388e-06, + "chamfer": 4.7973280743462965e-06, + "track": 9.725735026222537e-07, + "acceleration": 2.3057117459757137e-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": 5.874724593013525e-06, + "observation_loss": 5.517986210179515e-06, + "chamfer": 4.592260211211396e-06, + "track": 9.257261126549565e-07, + "acceleration": 3.5673829756888153e-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": 5.561355010286206e-06, + "observation_loss": 5.3587773436447605e-06, + "chamfer": 4.4644662011705805e-06, + "track": 8.943109719439235e-07, + "acceleration": 2.0257768085230055e-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": 5.439449523692019e-06, + "observation_loss": 5.275116109260125e-06, + "chamfer": 4.3952059058938175e-06, + "track": 8.799101465228887e-07, + "acceleration": 1.6433347127531306e-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": 5.458311079564737e-06, + "observation_loss": 5.2111772674834356e-06, + "chamfer": 4.3437698877824005e-06, + "track": 8.674076070747105e-07, + "acceleration": 2.4713366997275443e-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": 5.358218913897872e-06, + "observation_loss": 5.062818217993481e-06, + "chamfer": 4.225321390549652e-06, + "track": 8.374967706004099e-07, + "acceleration": 2.9540046853071544e-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": 5.070997303846525e-06, + "observation_loss": 4.877733772445936e-06, + "chamfer": 4.077401172253303e-06, + "track": 8.003325433492137e-07, + "acceleration": 1.932634603463157e-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": 4.967947461409494e-06, + "observation_loss": 4.807991899724584e-06, + "chamfer": 4.014221758552594e-06, + "track": 7.937699706417334e-07, + "acceleration": 1.5995568958260264e-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": 5.076228262623772e-06, + "observation_loss": 4.910568350169342e-06, + "chamfer": 4.083562089363113e-06, + "track": 8.270063176496478e-07, + "acceleration": 1.6565978455673758e-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": 5.476817932503764e-06, + "observation_loss": 5.150106517248787e-06, + "chamfer": 4.258226908859797e-06, + "track": 8.918794947021524e-07, + "acceleration": 3.2671144367668603e-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": 5.8363275456940755e-06, + "observation_loss": 5.4412671488535125e-06, + "chamfer": 4.471140982786892e-06, + "track": 9.701261660666205e-07, + "acceleration": 3.950606242142385e-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": 5.912819688091986e-06, + "observation_loss": 5.63940329811885e-06, + "chamfer": 4.623659151548054e-06, + "track": 1.0157442602576339e-06, + "acceleration": 2.7341619102116965e-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": 6.248820682230871e-06, + "observation_loss": 5.681694801751291e-06, + "chamfer": 4.663884737965418e-06, + "track": 1.0178100637858734e-06, + "acceleration": 5.671257667927421e-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": 5.909615993004991e-06, + "observation_loss": 5.685720680048689e-06, + "chamfer": 4.671675469580805e-06, + "track": 1.0140452104678843e-06, + "acceleration": 2.2389535558886564e-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": 5.730890734412242e-06, + "observation_loss": 5.633271939586848e-06, + "chamfer": 4.634145170712145e-06, + "track": 9.991268825615407e-07, + "acceleration": 9.761893693394086e-08, + "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": 5.868461812497117e-06, + "observation_loss": 5.728024916606955e-06, + "chamfer": 4.707414518634323e-06, + "track": 1.02061051165947e-06, + "acceleration": 1.4043706642041798e-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": 6.038765150151448e-06, + "observation_loss": 5.927874553890433e-06, + "chamfer": 4.866266863245983e-06, + "track": 1.061607918018126e-06, + "acceleration": 1.1089057494473309e-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": 6.265291631279979e-06, + "observation_loss": 6.153674803499598e-06, + "chamfer": 5.032356966694351e-06, + "track": 1.1213179504920845e-06, + "acceleration": 1.1161693436179121e-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": 6.4372134147561155e-06, + "observation_loss": 6.3269349084293935e-06, + "chamfer": 5.167952622286975e-06, + "track": 1.1589821724555804e-06, + "acceleration": 1.1027862711898706e-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": 6.756672974006506e-06, + "observation_loss": 6.586654308193829e-06, + "chamfer": 5.360316663427511e-06, + "track": 1.22633753107948e-06, + "acceleration": 1.7001880792122392e-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": 6.930978543095989e-06, + "observation_loss": 6.8633512455562595e-06, + "chamfer": 5.566714207816403e-06, + "track": 1.2966371514266939e-06, + "acceleration": 6.762737569943056e-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": 7.293968337762635e-06, + "observation_loss": 6.9352145146694966e-06, + "chamfer": 5.633561613649363e-06, + "track": 1.3016526736464584e-06, + "acceleration": 3.5875365256288205e-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": 6.935745659575332e-06, + "observation_loss": 6.773491350031691e-06, + "chamfer": 5.529189820663305e-06, + "track": 1.2443016430552234e-06, + "acceleration": 1.6225416743509413e-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": 6.902477707626531e-06, + "observation_loss": 6.7182227212470025e-06, + "chamfer": 5.489474006026285e-06, + "track": 1.2287488289075554e-06, + "acceleration": 1.842549721686737e-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": 7.246181212394731e-06, + "observation_loss": 6.977280463615898e-06, + "chamfer": 5.683944891643478e-06, + "track": 1.2933355719724204e-06, + "acceleration": 2.6890083404396137e-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": 7.506044312322047e-06, + "observation_loss": 7.311247827601619e-06, + "chamfer": 5.919568138779141e-06, + "track": 1.391679688822478e-06, + "acceleration": 1.9479648472042754e-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": 7.535697477578651e-06, + "observation_loss": 7.449220447597327e-06, + "chamfer": 6.000726443744497e-06, + "track": 1.4484938901659916e-06, + "acceleration": 8.647701577046973e-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": 7.617089067935012e-06, + "observation_loss": 7.570481102447957e-06, + "chamfer": 6.080958428356098e-06, + "track": 1.489522560405021e-06, + "acceleration": 4.6608192860730924e-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": 7.70130554883508e-06, + "observation_loss": 7.6274964158074e-06, + "chamfer": 6.116168151493184e-06, + "track": 1.5113283780010534e-06, + "acceleration": 7.380889854857742e-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": 7.74927048041718e-06, + "observation_loss": 7.641314368811436e-06, + "chamfer": 6.125384061306249e-06, + "track": 1.5159303075051866e-06, + "acceleration": 1.0795566396382128e-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": 7.885748345870525e-06, + "observation_loss": 7.678509973629843e-06, + "chamfer": 6.149978617031593e-06, + "track": 1.5285314702850883e-06, + "acceleration": 2.0723842908410006e-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": 8.196255294024013e-06, + "observation_loss": 8.055312719079666e-06, + "chamfer": 6.413476512534544e-06, + "track": 1.641836206545122e-06, + "acceleration": 1.4094221967297926e-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": 8.76401554705808e-06, + "observation_loss": 8.680490282131359e-06, + "chamfer": 6.836393367848359e-06, + "track": 1.8440973690303508e-06, + "acceleration": 8.352489544449782e-08, + "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": 9.418720765097532e-06, + "observation_loss": 9.149162906396668e-06, + "chamfer": 7.158653716032859e-06, + "track": 1.990508962990134e-06, + "acceleration": 2.695580292311206e-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": 9.184800546790939e-06, + "observation_loss": 9.022415724757593e-06, + "chamfer": 7.078338512656046e-06, + "track": 1.9440774394752225e-06, + "acceleration": 1.6238485045505513e-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": 8.93154265213525e-06, + "observation_loss": 8.72769578563748e-06, + "chamfer": 6.895079422974959e-06, + "track": 1.8326163626625203e-06, + "acceleration": 2.0384730703426612e-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": 8.528480975655839e-06, + "observation_loss": 8.476009497826453e-06, + "chamfer": 6.727051186317112e-06, + "track": 1.7489581978225033e-06, + "acceleration": 5.247167678135156e-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": 8.335827260452788e-06, + "observation_loss": 8.28161500976421e-06, + "chamfer": 6.589513759536203e-06, + "track": 1.6921013639148441e-06, + "acceleration": 5.42120552893266e-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": 8.308253200084437e-06, + "observation_loss": 8.246571269410197e-06, + "chamfer": 6.558311270055128e-06, + "track": 1.6882603404155816e-06, + "acceleration": 6.168234989445409e-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": 8.375180186703801e-06, + "observation_loss": 8.308415999636054e-06, + "chamfer": 6.5986432673526e-06, + "track": 1.7097731870308053e-06, + "acceleration": 6.676426522744805e-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": 8.40521988720866e-06, + "observation_loss": 8.364602763322182e-06, + "chamfer": 6.637822934862925e-06, + "track": 1.7267800558329327e-06, + "acceleration": 4.061704217406259e-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": 8.580111170886084e-06, + "observation_loss": 8.403821993852034e-06, + "chamfer": 6.6493194026406854e-06, + "track": 1.7545022501508356e-06, + "acceleration": 1.7628940440772567e-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": 8.820129551168066e-06, + "observation_loss": 8.464840902888682e-06, + "chamfer": 6.693681370961713e-06, + "track": 1.7711594182401313e-06, + "acceleration": 3.5528850617083663e-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": 9.33594856178388e-06, + "observation_loss": 8.578647793910932e-06, + "chamfer": 6.7577429945231415e-06, + "track": 1.820904913074628e-06, + "acceleration": 7.573006541861105e-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": 9.809827133722138e-06, + "observation_loss": 8.728102329769172e-06, + "chamfer": 6.865346676931949e-06, + "track": 1.8627555391503847e-06, + "acceleration": 1.0817246902661282e-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": 9.443888302484993e-06, + "observation_loss": 8.869369594322052e-06, + "chamfer": 6.966236469452269e-06, + "track": 1.903133352243458e-06, + "acceleration": 5.745186513195222e-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": 9.35353909881087e-06, + "observation_loss": 9.145653166342527e-06, + "chamfer": 7.157415438996395e-06, + "track": 1.988237499972456e-06, + "acceleration": 2.0788550614270207e-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": 9.656462680140976e-06, + "observation_loss": 9.50846697378438e-06, + "chamfer": 7.388270660158014e-06, + "track": 2.120195858879015e-06, + "acceleration": 1.4799566372403206e-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": 1.0035895684268326e-05, + "observation_loss": 9.971658073482104e-06, + "chamfer": 7.69103553466266e-06, + "track": 2.280622311445768e-06, + "acceleration": 6.423765341878607e-08, + "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": 1.025599158310797e-05, + "observation_loss": 1.020065974444151e-05, + "chamfer": 7.836143595341127e-06, + "track": 2.364515694353031e-06, + "acceleration": 5.533171076876897e-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": 1.0576777640380897e-05, + "observation_loss": 1.0345946066081524e-05, + "chamfer": 7.921180440462194e-06, + "track": 2.4247651708719786e-06, + "acceleration": 2.3083197220330476e-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": 1.0613925951474812e-05, + "observation_loss": 1.0470114830241073e-05, + "chamfer": 7.971560080477502e-06, + "track": 2.4985545223898953e-06, + "acceleration": 1.4381123492057668e-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": 1.0614537131914403e-05, + "observation_loss": 1.0524385288590565e-05, + "chamfer": 7.986649507074617e-06, + "track": 2.537735554142273e-06, + "acceleration": 9.015166568815403e-08, + "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": 1.0679955266823526e-05, + "observation_loss": 1.0419728823762853e-05, + "chamfer": 7.915510650491342e-06, + "track": 2.5042179458978353e-06, + "acceleration": 2.602268409646058e-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": 1.0878728971874807e-05, + "observation_loss": 1.0219420801149681e-05, + "chamfer": 7.795206329319626e-06, + "track": 2.424214471830055e-06, + "acceleration": 6.593081707251258e-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": 1.0586297321424354e-05, + "observation_loss": 1.017212252918398e-05, + "chamfer": 7.75915577833075e-06, + "track": 2.412966523479554e-06, + "acceleration": 4.1417467855353607e-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": 1.1070047548855655e-05, + "observation_loss": 1.0146392924070824e-05, + "chamfer": 7.739156899333466e-06, + "track": 2.4072362521110335e-06, + "acceleration": 9.236548521585064e-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": 1.4011327039042953e-05, + "observation_loss": 9.979465176002122e-06, + "chamfer": 7.60833609092515e-06, + "track": 2.371128630329622e-06, + "acceleration": 4.031861863040831e-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": 1.2359725587884896e-05, + "observation_loss": 1.010417145153042e-05, + "chamfer": 7.708984412602149e-06, + "track": 2.3951872663019458e-06, + "acceleration": 2.2555539089808008e-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": 1.0851656043087132e-05, + "observation_loss": 1.0195008144364692e-05, + "chamfer": 7.770468982926104e-06, + "track": 2.424539161438588e-06, + "acceleration": 6.566478418790211e-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": 1.0662758541002404e-05, + "observation_loss": 1.0205183571088128e-05, + "chamfer": 7.744051799818408e-06, + "track": 2.461132226017071e-06, + "acceleration": 4.5757496991427615e-07, + "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": 1.052632160281064e-05, + "observation_loss": 1.0243325050396379e-05, + "chamfer": 7.748858479317278e-06, + "track": 2.494466343705426e-06, + "acceleration": 2.8299689347477397e-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": 1.0813632798090111e-05, + "observation_loss": 1.05290710052941e-05, + "chamfer": 7.893413567217067e-06, + "track": 2.635657665450708e-06, + "acceleration": 2.845618496394309e-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": 1.1063059901061933e-05, + "observation_loss": 1.0841432413144503e-05, + "chamfer": 8.047583833104e-06, + "track": 2.7938485800405033e-06, + "acceleration": 2.21627573182559e-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": 1.1457308573881164e-05, + "observation_loss": 1.1205822374904528e-05, + "chamfer": 8.243671800300945e-06, + "track": 2.9621505746035837e-06, + "acceleration": 2.514860568680888e-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": 1.162959415523801e-05, + "observation_loss": 1.1414893378969282e-05, + "chamfer": 8.355031241080724e-06, + "track": 3.059862592635909e-06, + "acceleration": 2.1470123101607896e-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": 1.1806171642092522e-05, + "observation_loss": 1.1600462130445521e-05, + "chamfer": 8.473564776068088e-06, + "track": 3.1268973543774337e-06, + "acceleration": 2.0570973902067635e-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": 1.2009018064418342e-05, + "observation_loss": 1.1893817827512976e-05, + "chamfer": 8.655225428810809e-06, + "track": 3.2385926260758424e-06, + "acceleration": 1.1520047848989634e-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": 1.2266688827367034e-05, + "observation_loss": 1.2178075849078596e-05, + "chamfer": 8.825711120152846e-06, + "track": 3.3523645015520742e-06, + "acceleration": 8.861302092100232e-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": 1.2366450391709805e-05, + "observation_loss": 1.2304430129006505e-05, + "chamfer": 8.88708200363908e-06, + "track": 3.4173485801147763e-06, + "acceleration": 6.202017743817123e-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": 1.2450268513930496e-05, + "observation_loss": 1.2379121471894905e-05, + "chamfer": 8.94016648089746e-06, + "track": 3.4389554457447957e-06, + "acceleration": 7.114659439366733e-08, + "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": 1.2479452379920986e-05, + "observation_loss": 1.2401954336382914e-05, + "chamfer": 8.930405783758033e-06, + "track": 3.471548325251206e-06, + "acceleration": 7.749769537213069e-08, + "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": 1.2469688954297453e-05, + "observation_loss": 1.242404141521547e-05, + "chamfer": 8.922546840040013e-06, + "track": 3.501494120428106e-06, + "acceleration": 4.5647933433201615e-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": 1.253933623956982e-05, + "observation_loss": 1.2401565982145257e-05, + "chamfer": 8.911112672649324e-06, + "track": 3.4904533094959334e-06, + "acceleration": 1.377700016291783e-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": 1.252233050763607e-05, + "observation_loss": 1.2390705705911387e-05, + "chamfer": 8.90511910256464e-06, + "track": 3.4855866033467464e-06, + "acceleration": 1.3162483014639292e-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": 1.2384621186356526e-05, + "observation_loss": 1.2370850527076982e-05, + "chamfer": 8.875971616362222e-06, + "track": 3.4948793654621113e-06, + "acceleration": 1.3770849349725722e-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": 1.2419371159921866e-05, + "observation_loss": 1.2352866178844124e-05, + "chamfer": 8.855320629663765e-06, + "track": 3.4975460039277095e-06, + "acceleration": 6.650473238778432e-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": 1.2494673683249857e-05, + "observation_loss": 1.2354243153822608e-05, + "chamfer": 8.848911420500372e-06, + "track": 3.5053321880695876e-06, + "acceleration": 1.4043052942724898e-07, + "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": 1.2395615158311557e-05, + "observation_loss": 1.2272768799448386e-05, + "chamfer": 8.803656783129554e-06, + "track": 3.469112243692507e-06, + "acceleration": 1.2284648676086363e-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": 1.2161342965555377e-05, + "observation_loss": 1.2121230611228384e-05, + "chamfer": 8.7255521066254e-06, + "track": 3.3956789593503345e-06, + "acceleration": 4.0112301036288045e-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": 9.130749231663534e-06, + "chamfer_mean": 6.2677805630073635e-06, + "track_mean": 1.7921629679544064e-06, + "acceleration_mean": 1.0708057071965686e-06, + "observation_score": 8.059943501355823e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4316059859993402 + }, + "score_arrays_file": "pass_scores/pass_end_0170.npz", + "score_arrays_sha256": "146b0e9802e2acb359a31cdc9a48fcc323dbd4435ef80ce40da962d3378d0014" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0171.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0171.json new file mode 100644 index 0000000000000000000000000000000000000000..5f9bda7d539f0a29d8a432bf788cf2066c0e57e0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0171.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16416, + "completed_passes": 171, + "snapshot": "pass_end_0171", + "candidate": true, + "snapshot_arrays_sha256": "5aca63e2426b323964ee8e70478afa7f8c1c5e2eb9d55c316607f5ac25d375e8", + "score": 8.042828525844925e-06, + "score_result": { + "score": 8.042828525844925e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.947281700471649e-06, + 3.232644303352572e-06, + 3.5551706787373405e-06, + 4.1513421820127405e-06, + 4.870239081355976e-06, + 5.198030521569308e-06, + 5.132593742018798e-06, + 5.022776349505875e-06, + 4.884972895524697e-06, + 4.896864538750378e-06, + 5.1475612963258754e-06, + 5.414694442151813e-06, + 5.646594672725769e-06, + 5.7881438806361984e-06, + 5.801051884191111e-06, + 5.888596660952317e-06, + 5.748835974372923e-06, + 5.499065082403831e-06, + 5.341623818821972e-06, + 5.257956217974424e-06, + 5.192748176341411e-06, + 5.044526005804073e-06, + 4.86326962345629e-06, + 4.793909738509683e-06, + 4.8943129513645545e-06, + 5.129663804837037e-06, + 5.422604317573132e-06, + 5.620719093712978e-06, + 5.663174761139089e-06, + 5.6736516853561625e-06, + 5.623121978715062e-06, + 5.718113243347034e-06, + 5.918820534134284e-06, + 6.141871381259989e-06, + 6.311871402431279e-06, + 6.567195214302046e-06, + 6.84336555423215e-06, + 6.917156497365795e-06, + 6.753168236173224e-06, + 6.691724593110848e-06, + 6.946202120161615e-06, + 7.280573754542274e-06, + 7.41800158721162e-06, + 7.5395732892502565e-06, + 7.597577223350527e-06, + 7.611145065311575e-06, + 7.6499145507114e-06, + 8.026845534914173e-06, + 8.651880307297688e-06, + 9.120137292484287e-06, + 8.992918083094992e-06, + 8.698525562067516e-06, + 8.446015272056684e-06, + 8.252401130448561e-06, + 8.217674803745467e-06, + 8.278914719994646e-06, + 8.3355771494098e-06, + 8.375443940167315e-06, + 8.436581083515193e-06, + 8.549828635295853e-06, + 8.700000762473792e-06, + 8.840423106448725e-06, + 9.117051376961172e-06, + 9.481009328737855e-06, + 9.94575566437561e-06, + 1.017590329865925e-05, + 1.0323215065000113e-05, + 1.0450010449858382e-05, + 1.0505628779355902e-05, + 1.0401980944152456e-05, + 1.0203048987023067e-05, + 1.0156061762245372e-05, + 1.0132413081009872e-05, + 9.964393029804341e-06, + 1.0095078323502094e-05, + 1.0188210580963641e-05, + 1.0199017197010107e-05, + 1.0237639799015597e-05, + 1.052254629030358e-05, + 1.0836830369953532e-05, + 1.1201682355022058e-05, + 1.1413499123591464e-05, + 1.1596559488680214e-05, + 1.1886711945408024e-05, + 1.2172202332294546e-05, + 1.2299105037527625e-05, + 1.2373326171655208e-05, + 1.2396439160511363e-05, + 1.2419426639098674e-05, + 1.2397028513078112e-05, + 1.238603908859659e-05, + 1.2366439477773383e-05, + 1.2349652024568059e-05, + 1.235128365806304e-05, + 1.2270552360860165e-05, + 1.2118613085476682e-05 + ] + ], + "episode_mean_losses": [ + 8.042828525844925e-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": 2.947281700471649e-06, + "observation_loss": 2.947281700471649e-06, + "chamfer": 2.499995389371179e-06, + "track": 4.472861974136322e-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": 4.237049142830074e-05, + "observation_loss": 3.232644303352572e-06, + "chamfer": 2.7346825390850427e-06, + "track": 4.979618779543671e-07, + "acceleration": 3.913784894393757e-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": 2.5183011530316435e-05, + "observation_loss": 3.5551706787373405e-06, + "chamfer": 3.00516035167675e-06, + "track": 5.500103270605905e-07, + "acceleration": 2.1627840396831743e-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": 1.1772849575208966e-05, + "observation_loss": 4.1513421820127405e-06, + "chamfer": 3.484788749119616e-06, + "track": 6.665533760497055e-07, + "acceleration": 7.621507393196225e-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": 9.343400961370207e-06, + "observation_loss": 4.870239081355976e-06, + "chamfer": 4.044709385198075e-06, + "track": 8.255295824710629e-07, + "acceleration": 4.4731614252668805e-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": 6.7829323597834446e-06, + "observation_loss": 5.198030521569308e-06, + "chamfer": 4.2939477680192795e-06, + "track": 9.04082924080285e-07, + "acceleration": 1.584902065587812e-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": 6.16795250607538e-06, + "observation_loss": 5.132593742018798e-06, + "chamfer": 4.230430931784213e-06, + "track": 9.021627533911669e-07, + "acceleration": 1.0353588777434197e-06, + "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": 5.628614417219069e-06, + "observation_loss": 5.022776349505875e-06, + "chamfer": 4.141354565945221e-06, + "track": 8.814217835606541e-07, + "acceleration": 6.058378403395182e-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": 5.720479748561047e-06, + "observation_loss": 4.884972895524697e-06, + "chamfer": 4.037123289890587e-06, + "track": 8.478494351038535e-07, + "acceleration": 8.355069098797685e-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": 5.4790289141237736e-06, + "observation_loss": 4.896864538750378e-06, + "chamfer": 4.0565723793406505e-06, + "track": 8.402920457228902e-07, + "acceleration": 5.82164432216814e-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": 5.452122877613874e-06, + "observation_loss": 5.1475612963258754e-06, + "chamfer": 4.273174909030786e-06, + "track": 8.743864441385085e-07, + "acceleration": 3.045614107577421e-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": 5.709680863219546e-06, + "observation_loss": 5.414694442151813e-06, + "chamfer": 4.492909738473827e-06, + "track": 9.217847036779858e-07, + "acceleration": 2.9498627895918617e-07, + "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": 5.8064401855517644e-06, + "observation_loss": 5.646594672725769e-06, + "chamfer": 4.692609763878863e-06, + "track": 9.539847951600677e-07, + "acceleration": 1.5984538492830325e-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": 6.0961165218031965e-06, + "observation_loss": 5.7881438806361984e-06, + "chamfer": 4.81182178191375e-06, + "track": 9.763220987224486e-07, + "acceleration": 3.079725843235792e-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": 6.138433491287287e-06, + "observation_loss": 5.801051884191111e-06, + "chamfer": 4.825667019758839e-06, + "track": 9.753847507454338e-07, + "acceleration": 3.373818060481426e-07, + "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": 6.085653694754001e-06, + "observation_loss": 5.888596660952317e-06, + "chamfer": 4.897176950180437e-06, + "track": 9.91419824458717e-07, + "acceleration": 1.9705719012108602e-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": 5.979286470392253e-06, + "observation_loss": 5.748835974372923e-06, + "chamfer": 4.78102720080642e-06, + "track": 9.67808773566503e-07, + "acceleration": 2.3045068076044117e-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": 5.855707968294155e-06, + "observation_loss": 5.499065082403831e-06, + "chamfer": 4.577449544740375e-06, + "track": 9.216153671331995e-07, + "acceleration": 3.5664297115545196e-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": 5.5456816880905535e-06, + "observation_loss": 5.341623818821972e-06, + "chamfer": 4.450846972758882e-06, + "track": 8.907767892196716e-07, + "acceleration": 2.0405796874456428e-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": 5.4241804718913045e-06, + "observation_loss": 5.257956217974424e-06, + "chamfer": 4.381407052278519e-06, + "track": 8.765493930695811e-07, + "acceleration": 1.6622426812773483e-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": 5.441278062789934e-06, + "observation_loss": 5.192748176341411e-06, + "chamfer": 4.3288819142617285e-06, + "track": 8.638660915494256e-07, + "acceleration": 2.485297727616853e-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": 5.34152013642597e-06, + "observation_loss": 5.044526005804073e-06, + "chamfer": 4.210424322081963e-06, + "track": 8.341019110957859e-07, + "acceleration": 2.9699432957386307e-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": 5.05725165567128e-06, + "observation_loss": 4.86326962345629e-06, + "chamfer": 4.0655604607309215e-06, + "track": 7.977091627253685e-07, + "acceleration": 1.9398206063669932e-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": 4.955952590535162e-06, + "observation_loss": 4.793909738509683e-06, + "chamfer": 4.002662990387762e-06, + "track": 7.912468618087587e-07, + "acceleration": 1.620429657123168e-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": 5.062247055320768e-06, + "observation_loss": 4.8943129513645545e-06, + "chamfer": 4.070437626069179e-06, + "track": 8.238750979217002e-07, + "acceleration": 1.6793414658877737e-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": 5.454903202917194e-06, + "observation_loss": 5.129663804837037e-06, + "chamfer": 4.241695478413021e-06, + "track": 8.879682695805968e-07, + "acceleration": 3.252393696584477e-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": 5.816886641696328e-06, + "observation_loss": 5.422604317573132e-06, + "chamfer": 4.456183887668885e-06, + "track": 9.664205435910844e-07, + "acceleration": 3.942824946534529e-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": 5.889497060707072e-06, + "observation_loss": 5.620719093712978e-06, + "chamfer": 4.608587914844975e-06, + "track": 1.0121311788680032e-06, + "acceleration": 2.6877808068093145e-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": 6.230025974218734e-06, + "observation_loss": 5.663174761139089e-06, + "chamfer": 4.648737558454741e-06, + "track": 1.0144370889975107e-06, + "acceleration": 5.668511562362255e-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": 5.89968931308249e-06, + "observation_loss": 5.6736516853561625e-06, + "chamfer": 4.661652837967267e-06, + "track": 1.0119988473888952e-06, + "acceleration": 2.2603781246743893e-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": 5.7216193454223685e-06, + "observation_loss": 5.623121978715062e-06, + "chamfer": 4.62571415482671e-06, + "track": 9.974080512620276e-07, + "acceleration": 9.849743776157993e-08, + "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": 5.8655987231759354e-06, + "observation_loss": 5.718113243347034e-06, + "chamfer": 4.6993577598186675e-06, + "track": 1.0187553698415286e-06, + "acceleration": 1.4748566457001289e-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": 6.029148607922252e-06, + "observation_loss": 5.918820534134284e-06, + "chamfer": 4.858869033341762e-06, + "track": 1.0599513871056843e-06, + "acceleration": 1.1032828695078933e-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": 6.252574621612439e-06, + "observation_loss": 6.141871381259989e-06, + "chamfer": 5.0228313739353325e-06, + "track": 1.1190398936378187e-06, + "acceleration": 1.1070321193074051e-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": 6.42303166387137e-06, + "observation_loss": 6.311871402431279e-06, + "chamfer": 5.156042789167259e-06, + "track": 1.1558284995771828e-06, + "acceleration": 1.1116019038581726e-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": 6.736629075021483e-06, + "observation_loss": 6.567195214302046e-06, + "chamfer": 5.344759301806334e-06, + "track": 1.2224360261825495e-06, + "acceleration": 1.6943371861088963e-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": 6.911590844538296e-06, + "observation_loss": 6.84336555423215e-06, + "chamfer": 5.55061478735297e-06, + "track": 1.292750539505505e-06, + "acceleration": 6.822535425499154e-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": 7.27425640434376e-06, + "observation_loss": 6.917156497365795e-06, + "chamfer": 5.6190428949776106e-06, + "track": 1.2981136023881845e-06, + "acceleration": 3.5709979329112684e-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": 6.913805009389762e-06, + "observation_loss": 6.753168236173224e-06, + "chamfer": 5.512844836630393e-06, + "track": 1.2403236269165063e-06, + "acceleration": 1.6063670216226456e-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": 6.876106908748625e-06, + "observation_loss": 6.691724593110848e-06, + "chamfer": 5.468335984915029e-06, + "track": 1.2233887218826567e-06, + "acceleration": 1.8438213089666533e-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": 7.215400728455279e-06, + "observation_loss": 6.946202120161615e-06, + "chamfer": 5.6595249589008745e-06, + "track": 1.2866772749475786e-06, + "acceleration": 2.69198494606826e-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": 7.4759250310307834e-06, + "observation_loss": 7.280573754542274e-06, + "chamfer": 5.895783488085726e-06, + "track": 1.3847903801433858e-06, + "acceleration": 1.9535117701252602e-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": 7.504349468945293e-06, + "observation_loss": 7.41800158721162e-06, + "chamfer": 5.976320608169772e-06, + "track": 1.441681092728686e-06, + "acceleration": 8.634782489025383e-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": 7.586150331917452e-06, + "observation_loss": 7.5395732892502565e-06, + "chamfer": 6.0569363995455205e-06, + "track": 1.4826370033915737e-06, + "acceleration": 4.6577213197451783e-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": 7.671273124287836e-06, + "observation_loss": 7.597577223350527e-06, + "chamfer": 6.093059255363187e-06, + "track": 1.5045180816741777e-06, + "acceleration": 7.36962348923953e-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": 7.719359018665273e-06, + "observation_loss": 7.611145065311575e-06, + "chamfer": 6.101961844251491e-06, + "track": 1.509183334746922e-06, + "acceleration": 1.0821418783280023e-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": 7.857245691411663e-06, + "observation_loss": 7.6499145507114e-06, + "chamfer": 6.127894266683143e-06, + "track": 1.522020738775609e-06, + "acceleration": 2.0733125438709976e-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": 8.168130989361089e-06, + "observation_loss": 8.026845534914173e-06, + "chamfer": 6.391554961737711e-06, + "track": 1.6352905731764622e-06, + "acceleration": 1.4128555392289854e-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": 8.73585304361768e-06, + "observation_loss": 8.651880307297688e-06, + "chamfer": 6.8147751335345674e-06, + "track": 1.837104946389445e-06, + "acceleration": 8.397308448593321e-08, + "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": 9.389841579832137e-06, + "observation_loss": 9.120137292484287e-06, + "chamfer": 7.1371669037034735e-06, + "track": 1.9829703887808137e-06, + "acceleration": 2.697044010346872e-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": 9.156091437034775e-06, + "observation_loss": 8.992918083094992e-06, + "chamfer": 7.056364665913861e-06, + "track": 1.936553644554806e-06, + "acceleration": 1.6317362394602242e-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": 8.903257366910111e-06, + "observation_loss": 8.698525562067516e-06, + "chamfer": 6.873022812214913e-06, + "track": 1.8255029772262787e-06, + "acceleration": 2.0473147799293656e-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": 8.499004252371378e-06, + "observation_loss": 8.446015272056684e-06, + "chamfer": 6.703993676637765e-06, + "track": 1.742021936479432e-06, + "acceleration": 5.29893569023443e-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": 8.306478775921278e-06, + "observation_loss": 8.252401130448561e-06, + "chamfer": 6.56701740808785e-06, + "track": 1.6853837223607115e-06, + "acceleration": 5.407758152387032e-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": 8.278687346319202e-06, + "observation_loss": 8.217674803745467e-06, + "chamfer": 6.53603819955606e-06, + "track": 1.6816369452499202e-06, + "acceleration": 6.101286942339357e-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": 8.34536422189558e-06, + "observation_loss": 8.278914719994646e-06, + "chamfer": 6.575950919796014e-06, + "track": 1.702963572824956e-06, + "acceleration": 6.644986427772892e-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": 8.375356628675945e-06, + "observation_loss": 8.3355771494098e-06, + "chamfer": 6.615671736653894e-06, + "track": 1.7199055264427443e-06, + "acceleration": 3.977950413514009e-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": 8.551241990062408e-06, + "observation_loss": 8.375443940167315e-06, + "chamfer": 6.627969014516566e-06, + "track": 1.7474745845902362e-06, + "acceleration": 1.7579799305167398e-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": 8.792150765657425e-06, + "observation_loss": 8.436581083515193e-06, + "chamfer": 6.672682502539828e-06, + "track": 1.7638985809753649e-06, + "acceleration": 3.5556990951590706e-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": 9.308014341513626e-06, + "observation_loss": 8.549828635295853e-06, + "chamfer": 6.736468094459269e-06, + "track": 1.8133606545234215e-06, + "acceleration": 7.581859904348676e-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": 9.784746907826047e-06, + "observation_loss": 8.700000762473792e-06, + "chamfer": 6.845174084446626e-06, + "track": 1.854826678027166e-06, + "acceleration": 1.0847461453522556e-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": 9.41805228649173e-06, + "observation_loss": 8.840423106448725e-06, + "chamfer": 6.94525533617707e-06, + "track": 1.8951681113321683e-06, + "acceleration": 5.776288958259101e-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": 9.326668077846989e-06, + "observation_loss": 9.117051376961172e-06, + "chamfer": 7.136729891499272e-06, + "track": 1.980321940209251e-06, + "acceleration": 2.09616970892057e-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": 9.630403837945778e-06, + "observation_loss": 9.481009328737855e-06, + "chamfer": 7.368460501311347e-06, + "track": 2.1125490548001835e-06, + "acceleration": 1.4939460868390597e-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": 1.00103870863677e-05, + "observation_loss": 9.94575566437561e-06, + "chamfer": 7.672401807212736e-06, + "track": 2.273353857162874e-06, + "acceleration": 6.463138646495281e-08, + "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": 1.0231502528768033e-05, + "observation_loss": 1.017590329865925e-05, + "chamfer": 7.818345693522133e-06, + "track": 2.357558059884468e-06, + "acceleration": 5.559887128470109e-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": 1.0555354492680635e-05, + "observation_loss": 1.0323215065000113e-05, + "chamfer": 7.905071470304392e-06, + "track": 2.4181433673220454e-06, + "acceleration": 2.3213912925257318e-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": 1.0594158993626479e-05, + "observation_loss": 1.0450010449858382e-05, + "chamfer": 7.957401066960301e-06, + "track": 2.4926091555244057e-06, + "acceleration": 1.44148529557242e-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": 1.0596020729281008e-05, + "observation_loss": 1.0505628779355902e-05, + "chamfer": 7.973332685651258e-06, + "track": 2.532295866330969e-06, + "acceleration": 9.039219861506353e-08, + "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": 1.0662359272828326e-05, + "observation_loss": 1.0401980944152456e-05, + "chamfer": 7.90297690400621e-06, + "track": 2.499003812772571e-06, + "acceleration": 2.603783855192887e-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": 1.0863482202694286e-05, + "observation_loss": 1.0203048987023067e-05, + "chamfer": 7.784093213558663e-06, + "track": 2.4189555460907286e-06, + "acceleration": 6.60433613575151e-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": 1.0571022357908078e-05, + "observation_loss": 1.0156061762245372e-05, + "chamfer": 7.748170901322737e-06, + "track": 2.4078913156699855e-06, + "acceleration": 4.149604819758679e-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": 1.1109325896541122e-05, + "observation_loss": 1.0132413081009872e-05, + "chamfer": 7.729765457042959e-06, + "track": 2.4026471692195628e-06, + "acceleration": 9.76912474470737e-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": 1.421101205778541e-05, + "observation_loss": 9.964393029804341e-06, + "chamfer": 7.59797922000871e-06, + "track": 2.366413809795631e-06, + "acceleration": 4.246619027981069e-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": 1.2447036169760395e-05, + "observation_loss": 1.0095078323502094e-05, + "chamfer": 7.702694347244687e-06, + "track": 2.3923842036310816e-06, + "acceleration": 2.351957618884626e-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": 1.088188037101645e-05, + "observation_loss": 1.0188210580963641e-05, + "chamfer": 7.765992450003978e-06, + "track": 2.4222181309596635e-06, + "acceleration": 6.936695058357145e-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": 1.067214907379821e-05, + "observation_loss": 1.0199017197010107e-05, + "chamfer": 7.740180990367662e-06, + "track": 2.4588364340161206e-06, + "acceleration": 4.7313193363152095e-07, + "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": 1.0525004654482473e-05, + "observation_loss": 1.0237639799015597e-05, + "chamfer": 7.745796210656408e-06, + "track": 2.4918435883591883e-06, + "acceleration": 2.873645996714913e-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": 1.0814032975758892e-05, + "observation_loss": 1.052254629030358e-05, + "chamfer": 7.890144843258895e-06, + "track": 2.63240121967101e-06, + "acceleration": 2.9148682756385824e-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": 1.1241376341786236e-05, + "observation_loss": 1.0836830369953532e-05, + "chamfer": 8.045786671573296e-06, + "track": 2.791043925753911e-06, + "acceleration": 4.045457728807378e-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": 1.2181328202132136e-05, + "observation_loss": 1.1201682355022058e-05, + "chamfer": 8.241721843660343e-06, + "track": 2.95996073873539e-06, + "acceleration": 9.796463018574286e-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": 1.1820619874924887e-05, + "observation_loss": 1.1413499123591464e-05, + "chamfer": 8.355217687494587e-06, + "track": 3.0582812087232014e-06, + "acceleration": 4.071204955380381e-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": 1.1798832019849215e-05, + "observation_loss": 1.1596559488680214e-05, + "chamfer": 8.47222236188827e-06, + "track": 3.1243368994182674e-06, + "acceleration": 2.0227255959071044e-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": 1.1998032277915627e-05, + "observation_loss": 1.1886711945408024e-05, + "chamfer": 8.651731150166597e-06, + "track": 3.2349807952414267e-06, + "acceleration": 1.1131996302538028e-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": 1.2262961718079168e-05, + "observation_loss": 1.2172202332294546e-05, + "chamfer": 8.823308235150762e-06, + "track": 3.3488938697701087e-06, + "acceleration": 9.07598192156911e-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": 1.2361132576188538e-05, + "observation_loss": 1.2299105037527625e-05, + "chamfer": 8.885011084203143e-06, + "track": 3.4140941806981573e-06, + "acceleration": 6.202770919117029e-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": 1.2444891581253614e-05, + "observation_loss": 1.2373326171655208e-05, + "chamfer": 8.937799975683447e-06, + "track": 3.435526195971761e-06, + "acceleration": 7.156581460776579e-08, + "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": 1.2474583854782395e-05, + "observation_loss": 1.2396439160511363e-05, + "chamfer": 8.92810112418374e-06, + "track": 3.468338036327623e-06, + "acceleration": 7.814503533154493e-08, + "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": 1.2465994586818852e-05, + "observation_loss": 1.2419426639098674e-05, + "chamfer": 8.9209497673437e-06, + "track": 3.4984770991286496e-06, + "acceleration": 4.656757113252752e-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": 1.2535264431789983e-05, + "observation_loss": 1.2397028513078112e-05, + "chamfer": 8.909642929211259e-06, + "track": 3.4873858112405287e-06, + "acceleration": 1.3823566291648604e-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": 1.2518720723164733e-05, + "observation_loss": 1.238603908859659e-05, + "chamfer": 8.903462912712712e-06, + "track": 3.482576630631229e-06, + "acceleration": 1.326820608937851e-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": 1.2381261512928177e-05, + "observation_loss": 1.2366439477773383e-05, + "chamfer": 8.874520062818192e-06, + "track": 3.491919869702542e-06, + "acceleration": 1.4821947225129861e-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": 1.2416605386533774e-05, + "observation_loss": 1.2349652024568059e-05, + "chamfer": 8.854831321514212e-06, + "track": 3.494820248306496e-06, + "acceleration": 6.695334775486117e-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": 1.2490741937654093e-05, + "observation_loss": 1.235128365806304e-05, + "chamfer": 8.848676770867314e-06, + "track": 3.502606432448374e-06, + "acceleration": 1.3945785326541227e-07, + "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": 1.2393461474857759e-05, + "observation_loss": 1.2270552360860165e-05, + "chamfer": 8.80401876202086e-06, + "track": 3.46653337146563e-06, + "acceleration": 1.2290901452161052e-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": 1.215879456140101e-05, + "observation_loss": 1.2118613085476682e-05, + "chamfer": 8.725435691303574e-06, + "track": 3.393177848920459e-06, + "acceleration": 4.018174593056756e-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": 9.128451452511399e-06, + "chamfer_mean": 6.255194338204244e-06, + "track_mean": 1.7876342131017964e-06, + "acceleration_mean": 1.0856229686051488e-06, + "observation_score": 8.042828525844925e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4315831080002681 + }, + "score_arrays_file": "pass_scores/pass_end_0171.npz", + "score_arrays_sha256": "97ab5409ea188370f66df63ba2e97bb06c82209281b8e447d98e0d581f74e775" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0172.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0172.json new file mode 100644 index 0000000000000000000000000000000000000000..4168bc09575a7a69252ef77f6f2393ce7db2dbc0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0172.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16512, + "completed_passes": 172, + "snapshot": "pass_end_0172", + "candidate": true, + "snapshot_arrays_sha256": "5484c3ebbb7d0464fabeeef6b2c87b79e011b55741c5c62183893450bcf5658e", + "score": 8.02634412622183e-06, + "score_result": { + "score": 8.02634412622183e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.946886752397404e-06, + 3.230990841984749e-06, + 3.5514817682269495e-06, + 4.140918463235721e-06, + 4.8554329623584636e-06, + 5.178952505957568e-06, + 5.109575795358978e-06, + 4.998450549464906e-06, + 4.863361482421169e-06, + 4.877807441516779e-06, + 5.130421413923614e-06, + 5.40103201274178e-06, + 5.63218009119737e-06, + 5.772757049271604e-06, + 5.783563210570719e-06, + 5.867587788088713e-06, + 5.7278152780781966e-06, + 5.479804258357035e-06, + 5.3241474233800545e-06, + 5.240563041297719e-06, + 5.174082616576925e-06, + 5.025988230045186e-06, + 4.8484598664799705e-06, + 4.779935807164293e-06, + 4.8779470489535015e-06, + 5.109201083541848e-06, + 5.4040137911215425e-06, + 5.601072189165279e-06, + 5.644336397381267e-06, + 5.6618482631165534e-06, + 5.613648681901395e-06, + 5.70910833630478e-06, + 5.909911578783067e-06, + 6.131125246611191e-06, + 6.297942945820978e-06, + 6.549294994329102e-06, + 6.8243198256823234e-06, + 6.899801519466564e-06, + 6.7334108280192595e-06, + 6.665150067419745e-06, + 6.914021014381433e-06, + 7.248495421663392e-06, + 7.385455319308676e-06, + 7.507239388360176e-06, + 7.566494332422735e-06, + 7.5797788667841814e-06, + 7.62088393457816e-06, + 7.997806278581265e-06, + 8.622349923825823e-06, + 9.090299499803223e-06, + 8.962397259892896e-06, + 8.66876871441491e-06, + 8.416055607085582e-06, + 8.222970791393891e-06, + 8.188706487999298e-06, + 8.25021015771199e-06, + 8.308067663165275e-06, + 8.348208211828023e-06, + 8.409552719967905e-06, + 8.522019015799742e-06, + 8.672760486660991e-06, + 8.811925908958074e-06, + 9.088427759706974e-06, + 9.453909115109127e-06, + 9.919691365212202e-06, + 1.0152140930586029e-05, + 1.0301895599695854e-05, + 1.0430927432025783e-05, + 1.0487265171832405e-05, + 1.0384698725829367e-05, + 1.0187059160671197e-05, + 1.014105600916082e-05, + 1.0119604667124804e-05, + 9.95165464701131e-06, + 1.0088685485243332e-05, + 1.0183329322899226e-05, + 1.0194920832873322e-05, + 1.0233586181129795e-05, + 1.051726758305449e-05, + 1.0833624401129782e-05, + 1.1198573702131398e-05, + 1.1413013453420717e-05, + 1.1594082934607286e-05, + 1.1881735190399922e-05, + 1.2167658496764489e-05, + 1.229600911756279e-05, + 1.2369973774184473e-05, + 1.2393109500408173e-05, + 1.2417717698554043e-05, + 1.2394697478157468e-05, + 1.238403365277918e-05, + 1.2366339433356188e-05, + 1.235047875525197e-05, + 1.2352051271591336e-05, + 1.2271408195374534e-05, + 1.211961262015393e-05 + ] + ], + "episode_mean_losses": [ + 8.02634412622183e-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": 2.946886752397404e-06, + "observation_loss": 2.946886752397404e-06, + "chamfer": 2.499670699762646e-06, + "track": 4.4721596736962965e-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": 4.23382043663878e-05, + "observation_loss": 3.230990841984749e-06, + "chamfer": 2.7332785066391807e-06, + "track": 4.977122785021493e-07, + "acceleration": 3.910721352440305e-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": 2.5151499357889406e-05, + "observation_loss": 3.5514817682269495e-06, + "chamfer": 3.002140829266864e-06, + "track": 5.493410526469233e-07, + "acceleration": 2.1600017134915106e-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": 1.175041870737914e-05, + "observation_loss": 4.140918463235721e-06, + "chamfer": 3.476568053883966e-06, + "track": 6.643505230385927e-07, + "acceleration": 7.609500244143419e-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": 9.320338904217351e-06, + "observation_loss": 4.8554329623584636e-06, + "chamfer": 4.033643563161604e-06, + "track": 8.21789171823184e-07, + "acceleration": 4.464905941858888e-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": 6.765126272512134e-06, + "observation_loss": 5.178952505957568e-06, + "chamfer": 4.280094799469225e-06, + "track": 8.988576496449241e-07, + "acceleration": 1.5861735391808907e-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": 6.1507571444963105e-06, + "observation_loss": 5.109575795358978e-06, + "chamfer": 4.214015461911913e-06, + "track": 8.955602766036463e-07, + "acceleration": 1.0411815765110077e-06, + "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": 5.599051746685291e-06, + "observation_loss": 4.998450549464906e-06, + "chamfer": 4.123883627471514e-06, + "track": 8.745668083065539e-07, + "acceleration": 6.006013677506417e-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": 5.69150779483607e-06, + "observation_loss": 4.863361482421169e-06, + "chamfer": 4.021883341920329e-06, + "track": 8.414780268140021e-07, + "acceleration": 8.281463124149013e-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": 5.455072823679075e-06, + "observation_loss": 4.877807441516779e-06, + "chamfer": 4.043335593451047e-06, + "track": 8.344716206920566e-07, + "acceleration": 5.772653821622953e-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": 5.429233169707004e-06, + "observation_loss": 5.130421413923614e-06, + "chamfer": 4.2612882680259645e-06, + "track": 8.691329185239738e-07, + "acceleration": 2.9881158525313367e-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": 5.686715667252429e-06, + "observation_loss": 5.40103201274178e-06, + "chamfer": 4.483674274524674e-06, + "track": 9.17357795060525e-07, + "acceleration": 2.856836260889395e-07, + "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": 5.7870825003192294e-06, + "observation_loss": 5.63218009119737e-06, + "chamfer": 4.682524377130903e-06, + "track": 9.496555435362097e-07, + "acceleration": 1.5490245175442396e-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": 6.072387805033941e-06, + "observation_loss": 5.772757049271604e-06, + "chamfer": 4.800767783308402e-06, + "track": 9.719892659632023e-07, + "acceleration": 2.996309547143028e-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": 6.107269655331038e-06, + "observation_loss": 5.783563210570719e-06, + "chamfer": 4.812635324924486e-06, + "track": 9.709281130199088e-07, + "acceleration": 3.237063026517717e-07, + "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": 6.061236490495503e-06, + "observation_loss": 5.867587788088713e-06, + "chamfer": 4.880953838437563e-06, + "track": 9.8663394965115e-07, + "acceleration": 1.936487876719184e-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": 5.957438588666264e-06, + "observation_loss": 5.7278152780781966e-06, + "chamfer": 4.764729055750649e-06, + "track": 9.630861086407094e-07, + "acceleration": 2.296232111120844e-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": 5.835639512952184e-06, + "observation_loss": 5.479804258357035e-06, + "chamfer": 4.5623437472386286e-06, + "track": 9.17460681648663e-07, + "acceleration": 3.558350840648927e-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": 5.529247118829517e-06, + "observation_loss": 5.3241474233800545e-06, + "chamfer": 4.436954895936651e-06, + "track": 8.871925842868222e-07, + "acceleration": 2.050995391300603e-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": 5.408956894825678e-06, + "observation_loss": 5.240563041297719e-06, + "chamfer": 4.367440396890743e-06, + "track": 8.731225307201385e-07, + "acceleration": 1.6839389616052358e-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": 5.4244046623352915e-06, + "observation_loss": 5.174082616576925e-06, + "chamfer": 4.313815225032158e-06, + "track": 8.602675620750233e-07, + "acceleration": 2.5032184680640057e-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": 5.325568054104224e-06, + "observation_loss": 5.025988230045186e-06, + "chamfer": 4.195333985990146e-06, + "track": 8.30654300898459e-07, + "acceleration": 2.995799945892941e-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": 5.043351848144084e-06, + "observation_loss": 4.8484598664799705e-06, + "chamfer": 4.053451448271517e-06, + "track": 7.950081908347784e-07, + "acceleration": 1.9489213798351557e-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": 4.944843112753006e-06, + "observation_loss": 4.779935807164293e-06, + "chamfer": 3.991195626440458e-06, + "track": 7.887403512540914e-07, + "acceleration": 1.6490714926931105e-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": 5.048877028457355e-06, + "observation_loss": 4.8779470489535015e-06, + "chamfer": 4.057194928464014e-06, + "track": 8.207519499592308e-07, + "acceleration": 1.7093013582325511e-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": 5.431276804301888e-06, + "observation_loss": 5.109201083541848e-06, + "chamfer": 4.2251604099874385e-06, + "track": 8.840406167109904e-07, + "acceleration": 3.220758344468777e-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": 5.794409844384063e-06, + "observation_loss": 5.4040137911215425e-06, + "chamfer": 4.441276814759476e-06, + "track": 9.62737090048904e-07, + "acceleration": 3.903960532625206e-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": 5.863481419510208e-06, + "observation_loss": 5.601072189165279e-06, + "chamfer": 4.59272905573016e-06, + "track": 1.0083429060614435e-06, + "acceleration": 2.6240920192321937e-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": 6.212961579876719e-06, + "observation_loss": 5.644336397381267e-06, + "chamfer": 4.633332991943462e-06, + "track": 1.0110035191246425e-06, + "acceleration": 5.686252961822902e-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": 5.8911887208523694e-06, + "observation_loss": 5.6618482631165534e-06, + "chamfer": 4.651850304071559e-06, + "track": 1.0099979590449948e-06, + "acceleration": 2.2934048615752545e-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": 5.712698566640029e-06, + "observation_loss": 5.613648681901395e-06, + "chamfer": 4.617817012331216e-06, + "track": 9.958314421965042e-07, + "acceleration": 9.904991316034284e-08, + "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": 5.8638242990127765e-06, + "observation_loss": 5.70910833630478e-06, + "chamfer": 4.692040874942904e-06, + "track": 1.0170676887355512e-06, + "acceleration": 1.5471586323201336e-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": 6.019920419930713e-06, + "observation_loss": 5.909911578783067e-06, + "chamfer": 4.851554876950104e-06, + "track": 1.0583567018329632e-06, + "acceleration": 1.1000904009961232e-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": 6.241651590244146e-06, + "observation_loss": 6.131125246611191e-06, + "chamfer": 5.01416570841684e-06, + "track": 1.116959538194351e-06, + "acceleration": 1.105261588918438e-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": 6.410075911844615e-06, + "observation_loss": 6.297942945820978e-06, + "chamfer": 5.145031082065543e-06, + "track": 1.1529118637554348e-06, + "acceleration": 1.1213317208103035e-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": 6.717660653521307e-06, + "observation_loss": 6.549294994329102e-06, + "chamfer": 5.330444309947779e-06, + "track": 1.2188507980681607e-06, + "acceleration": 1.683654886619479e-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": 6.893340014357818e-06, + "observation_loss": 6.8243198256823234e-06, + "chamfer": 5.535203399631428e-06, + "track": 1.2891165397377335e-06, + "acceleration": 6.902030236233259e-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": 7.257896868395619e-06, + "observation_loss": 6.899801519466564e-06, + "chamfer": 5.605031219602097e-06, + "track": 1.294770413551305e-06, + "acceleration": 3.580954341941833e-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": 6.894284069858259e-06, + "observation_loss": 6.7334108280192595e-06, + "chamfer": 5.49688957107719e-06, + "track": 1.2365211432552314e-06, + "acceleration": 1.608734407909651e-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": 6.8492845457512885e-06, + "observation_loss": 6.665150067419745e-06, + "chamfer": 5.447096100397175e-06, + "track": 1.2180538533357321e-06, + "acceleration": 1.8413425095786806e-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": 7.184008609328885e-06, + "observation_loss": 6.914021014381433e-06, + "chamfer": 5.634168246615445e-06, + "track": 1.27985265407915e-06, + "acceleration": 2.69987481260614e-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": 7.4447270890232176e-06, + "observation_loss": 7.248495421663392e-06, + "chamfer": 5.870871063962113e-06, + "track": 1.3776242440144415e-06, + "acceleration": 1.9623179525751766e-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": 7.471894150512526e-06, + "observation_loss": 7.385455319308676e-06, + "chamfer": 5.950908871454885e-06, + "track": 1.4345463341669529e-06, + "acceleration": 8.643901594496128e-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": 7.553908744739601e-06, + "observation_loss": 7.507239388360176e-06, + "chamfer": 6.03180978941964e-06, + "track": 1.475429371566861e-06, + "acceleration": 4.6669292430578935e-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": 7.640225703653414e-06, + "observation_loss": 7.566494332422735e-06, + "chamfer": 6.069059963920154e-06, + "track": 1.4974343685025815e-06, + "acceleration": 7.373160570978143e-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": 7.688473488087766e-06, + "observation_loss": 7.5797788667841814e-06, + "chamfer": 6.077485522837378e-06, + "track": 1.502293457633641e-06, + "acceleration": 1.08694592881875e-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": 7.828907655493822e-06, + "observation_loss": 7.62088393457816e-06, + "chamfer": 6.1054888647049665e-06, + "track": 1.5153949561863556e-06, + "acceleration": 2.0802345090942254e-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": 8.139911187754478e-06, + "observation_loss": 7.997806278581265e-06, + "chamfer": 6.36918275631615e-06, + "track": 1.6286237496387912e-06, + "acceleration": 1.4210469601039222e-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": 8.70637632033322e-06, + "observation_loss": 8.622349923825823e-06, + "chamfer": 6.792513886466622e-06, + "track": 1.8298363784197136e-06, + "acceleration": 8.402622597714071e-08, + "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": 9.360585863760207e-06, + "observation_loss": 9.090299499803223e-06, + "chamfer": 7.11520897311857e-06, + "track": 1.9750902993109776e-06, + "acceleration": 2.702867050174973e-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": 9.12646919459803e-06, + "observation_loss": 8.962397259892896e-06, + "chamfer": 7.033644124021521e-06, + "track": 1.928753135871375e-06, + "acceleration": 1.6407216207880992e-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": 8.87429814611096e-06, + "observation_loss": 8.66876871441491e-06, + "chamfer": 6.850582849438069e-06, + "track": 1.8181857512900024e-06, + "acceleration": 2.0552953117203288e-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": 8.469509339192882e-06, + "observation_loss": 8.416055607085582e-06, + "chamfer": 6.681046215817332e-06, + "track": 1.7350093912682496e-06, + "acceleration": 5.345415488022809e-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": 8.27751682663802e-06, + "observation_loss": 8.222970791393891e-06, + "chamfer": 6.544242296513403e-06, + "track": 1.6787284948804881e-06, + "acceleration": 5.454624130152297e-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": 8.2504202509881e-06, + "observation_loss": 8.188706487999298e-06, + "chamfer": 6.51359459880041e-06, + "track": 1.6751117755120504e-06, + "acceleration": 6.17136208802549e-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": 8.31657598610036e-06, + "observation_loss": 8.25021015771199e-06, + "chamfer": 6.553809726028703e-06, + "track": 1.6964007727438002e-06, + "acceleration": 6.63653878518744e-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": 8.346981303475332e-06, + "observation_loss": 8.308067663165275e-06, + "chamfer": 6.594635124201886e-06, + "track": 1.7134326526502264e-06, + "acceleration": 3.8913412936381064e-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": 8.523954420525115e-06, + "observation_loss": 8.348208211828023e-06, + "chamfer": 6.607429440919077e-06, + "track": 1.7407787709089462e-06, + "acceleration": 1.757464076490578e-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": 8.766102837398648e-06, + "observation_loss": 8.409552719967905e-06, + "chamfer": 6.652669071627315e-06, + "track": 1.756883762027428e-06, + "acceleration": 3.5655051533467486e-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": 9.282579412683845e-06, + "observation_loss": 8.522019015799742e-06, + "chamfer": 6.7158957790525164e-06, + "track": 1.806123577807739e-06, + "acceleration": 7.605606242577778e-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": 9.761707588040736e-06, + "observation_loss": 8.672760486660991e-06, + "chamfer": 6.825627679063473e-06, + "track": 1.8471330349711934e-06, + "acceleration": 1.0889472150665824e-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": 9.392940228281077e-06, + "observation_loss": 8.811925908958074e-06, + "chamfer": 6.924567969690543e-06, + "track": 1.8873580529543688e-06, + "acceleration": 5.810139214190713e-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": 9.3001008281135e-06, + "observation_loss": 9.088427759706974e-06, + "chamfer": 7.115985226846533e-06, + "track": 1.9724427602341166e-06, + "acceleration": 2.1167332420191087e-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": 9.605272680346388e-06, + "observation_loss": 9.453909115109127e-06, + "chamfer": 7.348996859946055e-06, + "track": 2.1049120277893962e-06, + "acceleration": 1.5136315312247461e-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": 9.984810276364442e-06, + "observation_loss": 9.919691365212202e-06, + "chamfer": 7.653663487872109e-06, + "track": 2.266027649966418e-06, + "acceleration": 6.511920958018891e-08, + "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": 1.0208128514932469e-05, + "observation_loss": 1.0152140930586029e-05, + "chamfer": 7.801453648426104e-06, + "track": 2.350687054786249e-06, + "acceleration": 5.598758434643969e-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": 1.0534405191719998e-05, + "observation_loss": 1.0301895599695854e-05, + "chamfer": 7.890021151979454e-06, + "track": 2.4118746750900755e-06, + "acceleration": 2.3250974834354565e-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": 1.057541521731764e-05, + "observation_loss": 1.0430927432025783e-05, + "chamfer": 7.94405241322238e-06, + "track": 2.4868750188034028e-06, + "acceleration": 1.4448772844843916e-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": 1.0578125511528924e-05, + "observation_loss": 1.0487265171832405e-05, + "chamfer": 7.960295988596044e-06, + "track": 2.5269696379837114e-06, + "acceleration": 9.086077312758789e-08, + "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": 1.0646282134985086e-05, + "observation_loss": 1.0384698725829367e-05, + "chamfer": 7.89075238571968e-06, + "track": 2.493946112736012e-06, + "acceleration": 2.615831249386247e-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": 1.084988525690278e-05, + "observation_loss": 1.0187059160671197e-05, + "chamfer": 7.773134711897e-06, + "track": 2.413924448774196e-06, + "acceleration": 6.628258120144892e-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": 1.0557228051766288e-05, + "observation_loss": 1.014105600916082e-05, + "chamfer": 7.737827218079474e-06, + "track": 2.403229018455022e-06, + "acceleration": 4.1617195734033885e-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": 1.1147305485792458e-05, + "observation_loss": 1.0119604667124804e-05, + "chamfer": 7.721033398411237e-06, + "track": 2.3985712687135674e-06, + "acceleration": 1.0277009323544917e-06, + "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": 1.4404651665245183e-05, + "observation_loss": 9.95165464701131e-06, + "chamfer": 7.589121196360793e-06, + "track": 2.3625336780241923e-06, + "acceleration": 4.452997472981224e-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": 1.2536162103060633e-05, + "observation_loss": 1.0088685485243332e-05, + "chamfer": 7.698194167460315e-06, + "track": 2.3904913177830167e-06, + "acceleration": 2.447476390443626e-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": 1.0909516277024522e-05, + "observation_loss": 1.0183329322899226e-05, + "chamfer": 7.762807399558369e-06, + "track": 2.420521923340857e-06, + "acceleration": 7.26186669908202e-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": 1.0683371328923386e-05, + "observation_loss": 1.0194920832873322e-05, + "chamfer": 7.737759915471543e-06, + "track": 2.457161144775455e-06, + "acceleration": 4.884504960500635e-07, + "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": 1.0524962817726191e-05, + "observation_loss": 1.0233586181129795e-05, + "chamfer": 7.74387353885686e-06, + "track": 2.4897128696466098e-06, + "acceleration": 2.913766934398154e-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": 1.0816743269970175e-05, + "observation_loss": 1.051726758305449e-05, + "chamfer": 7.88771103543695e-06, + "track": 2.6295570023648906e-06, + "acceleration": 2.9947594271106937e-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": 1.10648379632039e-05, + "observation_loss": 1.0833624401129782e-05, + "chamfer": 8.044872629398014e-06, + "track": 2.788751316984417e-06, + "acceleration": 2.3121320680274948e-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": 1.1453753359091934e-05, + "observation_loss": 1.1198573702131398e-05, + "chamfer": 8.240492206823546e-06, + "track": 2.9580819500552025e-06, + "acceleration": 2.551794864302792e-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": 1.1640731827355921e-05, + "observation_loss": 1.1413013453420717e-05, + "chamfer": 8.355887075595092e-06, + "track": 3.0571263778256252e-06, + "acceleration": 2.2771872920657188e-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": 1.1793497833423316e-05, + "observation_loss": 1.1594082934607286e-05, + "chamfer": 8.471728506265208e-06, + "track": 3.122354428342078e-06, + "acceleration": 1.9941488460517576e-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": 1.1989593986072578e-05, + "observation_loss": 1.1881735190399922e-05, + "chamfer": 8.64969115355052e-06, + "track": 3.232043582102051e-06, + "acceleration": 1.0785841908500515e-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": 1.2261228221177589e-05, + "observation_loss": 1.2167658496764489e-05, + "chamfer": 8.821816663839854e-06, + "track": 3.345842287671985e-06, + "acceleration": 9.356973862395535e-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": 1.2359537322481629e-05, + "observation_loss": 1.229600911756279e-05, + "chamfer": 8.88439444679534e-06, + "track": 3.411614670767449e-06, + "acceleration": 6.352784964747116e-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": 1.244258055521641e-05, + "observation_loss": 1.2369973774184473e-05, + "chamfer": 8.937086931837257e-06, + "track": 3.4328866149735404e-06, + "acceleration": 7.260677392650905e-08, + "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": 1.2472631169657689e-05, + "observation_loss": 1.2393109500408173e-05, + "chamfer": 8.927174349082634e-06, + "track": 3.465935378699214e-06, + "acceleration": 7.95212642401566e-08, + "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": 1.2466542102629319e-05, + "observation_loss": 1.2417717698554043e-05, + "chamfer": 8.921228072722442e-06, + "track": 3.4964898532052757e-06, + "acceleration": 4.8823967091493614e-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": 1.2535059795482084e-05, + "observation_loss": 1.2394697478157468e-05, + "chamfer": 8.909611096896697e-06, + "track": 3.485086153887096e-06, + "acceleration": 1.4036199047495757e-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": 1.2519901247287635e-05, + "observation_loss": 1.238403365277918e-05, + "chamfer": 8.903313755581621e-06, + "track": 3.480719669823884e-06, + "acceleration": 1.3586790714725794e-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": 1.2383974535623565e-05, + "observation_loss": 1.2366339433356188e-05, + "chamfer": 8.875803359842394e-06, + "track": 3.49053630088747e-06, + "acceleration": 1.7634853577419562e-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": 1.2418686310411431e-05, + "observation_loss": 1.235047875525197e-05, + "chamfer": 8.856941349222325e-06, + "track": 3.4935374060296454e-06, + "acceleration": 6.820785358740977e-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": 1.2492013411247171e-05, + "observation_loss": 1.2352051271591336e-05, + "chamfer": 8.850872291077394e-06, + "track": 3.5011785257665906e-06, + "acceleration": 1.399624949272038e-07, + "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": 1.2397132195474114e-05, + "observation_loss": 1.2271408195374534e-05, + "chamfer": 8.806230653135572e-06, + "track": 3.465177087491611e-06, + "acceleration": 1.2572421326240146e-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": 1.216041619045427e-05, + "observation_loss": 1.211961262015393e-05, + "chamfer": 8.727473868930247e-06, + "track": 3.392138978597359e-06, + "acceleration": 4.080390425542646e-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": 9.104246148676035e-06, + "chamfer_mean": 6.243001941186321e-06, + "track_mean": 1.7833421924369948e-06, + "acceleration_mean": 1.077902023638444e-06, + "observation_score": 8.02634412622183e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4390061080011947 + }, + "score_arrays_file": "pass_scores/pass_end_0172.npz", + "score_arrays_sha256": "15bdb853e795d5147953290d8527cbbcb6debf299e8c95d5c40474b2b5c45472" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0173.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0173.json new file mode 100644 index 0000000000000000000000000000000000000000..781d7e2257dc751a3f7e0aaebd11436845632e81 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0173.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16608, + "completed_passes": 173, + "snapshot": "pass_end_0173", + "candidate": true, + "snapshot_arrays_sha256": "4c0a03c45e3b63697a626d4e42c90a7dbcc719aabe76a7365c23cca7c92705f1", + "score": 8.01044396562626e-06, + "score_result": { + "score": 8.01044396562626e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9464920316968346e-06, + 3.2293492040480487e-06, + 3.5477055462251883e-06, + 4.130341039854102e-06, + 4.840270321437856e-06, + 5.159545708011137e-06, + 5.0858589020208456e-06, + 4.973668637830997e-06, + 4.841352620132966e-06, + 4.858405645791208e-06, + 5.11332154928823e-06, + 5.386681550589856e-06, + 5.616460384771926e-06, + 5.756961400038563e-06, + 5.765945843450027e-06, + 5.846289241162594e-06, + 5.7061670304392464e-06, + 5.459817657538224e-06, + 5.3064081839693245e-06, + 5.223098014539573e-06, + 5.155206054041628e-06, + 5.007595973438583e-06, + 4.83340318169212e-06, + 4.766620804730337e-06, + 4.862139121541986e-06, + 5.089110345579684e-06, + 5.3849526011617854e-06, + 5.5808804972912185e-06, + 5.6249709814437665e-06, + 5.6501321523683146e-06, + 5.605287697107997e-06, + 5.701619556930382e-06, + 5.901961230847519e-06, + 6.120075340732001e-06, + 6.283887614699779e-06, + 6.53130337013863e-06, + 6.806166766182287e-06, + 6.8839990490232594e-06, + 6.715055860695429e-06, + 6.640412266278872e-06, + 6.883547484903829e-06, + 7.217820893856697e-06, + 7.35391358830384e-06, + 7.475257461919682e-06, + 7.534848919021897e-06, + 7.547823315690039e-06, + 7.591420398966875e-06, + 7.966807970660739e-06, + 8.589415301685221e-06, + 9.056974704435561e-06, + 8.92890602699481e-06, + 8.63614786794642e-06, + 8.384517059312202e-06, + 8.192855602828786e-06, + 8.160012839653064e-06, + 8.22312449599849e-06, + 8.282542694360018e-06, + 8.323120709974319e-06, + 8.384430657315534e-06, + 8.496279406244867e-06, + 8.647446520626545e-06, + 8.785459613136481e-06, + 9.060787306225393e-06, + 9.426443284610286e-06, + 9.892038178804796e-06, + 1.0126139386557043e-05, + 1.027745474857511e-05, + 1.0408490197733045e-05, + 1.0465415471117012e-05, + 1.0364803529228084e-05, + 1.016940404952038e-05, + 1.0124797881871928e-05, + 1.010597225103993e-05, + 9.94131823972566e-06, + 1.0084963832923677e-05, + 1.0181862307945266e-05, + 1.019526371237589e-05, + 1.0233610737486742e-05, + 1.0516234397073276e-05, + 1.0833391570486128e-05, + 1.1197812455066014e-05, + 1.1414870641601738e-05, + 1.1595595424296334e-05, + 1.188050282507902e-05, + 1.2166803571744822e-05, + 1.2296125532884616e-05, + 1.2369680916890502e-05, + 1.2392606549838092e-05, + 1.2418866390362382e-05, + 1.239610901393462e-05, + 1.238528511748882e-05, + 1.2368316674837843e-05, + 1.235412582900608e-05, + 1.2356631486909464e-05, + 1.2275796507310588e-05, + 1.212350616697222e-05 + ] + ], + "episode_mean_losses": [ + 8.01044396562626e-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": 2.9464920316968346e-06, + "observation_loss": 2.9464920316968346e-06, + "chamfer": 2.4993471470224904e-06, + "track": 4.471449699394725e-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": 4.230871854815632e-05, + "observation_loss": 3.2293492040480487e-06, + "chamfer": 2.7318872071191436e-06, + "track": 4.97462053772324e-07, + "acceleration": 3.907936843461357e-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": 2.512128594389651e-05, + "observation_loss": 3.5477055462251883e-06, + "chamfer": 2.9990467282914324e-06, + "track": 5.486587042469182e-07, + "acceleration": 2.157357994292397e-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": 1.1728039680747315e-05, + "observation_loss": 4.130341039854102e-06, + "chamfer": 3.4682100249483483e-06, + "track": 6.621311854360101e-07, + "acceleration": 7.597699095640564e-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": 9.296551979787182e-06, + "observation_loss": 4.840270321437856e-06, + "chamfer": 4.022275788884144e-06, + "track": 8.179947030839685e-07, + "acceleration": 4.456281658349326e-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": 6.746789040334988e-06, + "observation_loss": 5.159545708011137e-06, + "chamfer": 4.2659462451410946e-06, + "track": 8.935994060266239e-07, + "acceleration": 1.5872434460106888e-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": 6.1323244153754786e-06, + "observation_loss": 5.0858589020208456e-06, + "chamfer": 4.196945610601688e-06, + "track": 8.889133482625766e-07, + "acceleration": 1.0464652859809576e-06, + "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": 5.568769211095059e-06, + "observation_loss": 4.973668637830997e-06, + "chamfer": 4.106052529095905e-06, + "track": 8.676161655785108e-07, + "acceleration": 5.951005164206435e-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": 5.661795512423851e-06, + "observation_loss": 4.841352620132966e-06, + "chamfer": 4.006374638265697e-06, + "track": 8.34977868180431e-07, + "acceleration": 8.204427786040469e-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": 5.43112400919199e-06, + "observation_loss": 4.858405645791208e-06, + "chamfer": 4.029801402793964e-06, + "track": 8.286041293104063e-07, + "acceleration": 5.727181928705249e-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": 5.40708015250857e-06, + "observation_loss": 5.11332154928823e-06, + "chamfer": 4.24945619670325e-06, + "track": 8.638652388981427e-07, + "acceleration": 2.937588021723059e-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": 5.664238415192813e-06, + "observation_loss": 5.386681550589856e-06, + "chamfer": 4.473897206480615e-06, + "track": 9.127842304224032e-07, + "acceleration": 2.7755697828979464e-07, + "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": 5.767592938354937e-06, + "observation_loss": 5.616460384771926e-06, + "chamfer": 4.67123709313455e-06, + "track": 9.452231779505382e-07, + "acceleration": 1.511324256853186e-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": 6.050509000488091e-06, + "observation_loss": 5.756961400038563e-06, + "chamfer": 4.7892972361296415e-06, + "track": 9.67664277595759e-07, + "acceleration": 2.93547827823204e-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": 6.078556452848716e-06, + "observation_loss": 5.765945843450027e-06, + "chamfer": 4.799464932148112e-06, + "track": 9.664807976150769e-07, + "acceleration": 3.1261075150723627e-07, + "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": 6.036997092451202e-06, + "observation_loss": 5.846289241162594e-06, + "chamfer": 4.864502443524543e-06, + "track": 9.817866839512135e-07, + "acceleration": 1.907079081320262e-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": 5.935961780778598e-06, + "observation_loss": 5.7061670304392464e-06, + "chamfer": 4.7479466047661845e-06, + "track": 9.582201982993865e-07, + "acceleration": 2.2979452296567615e-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": 5.816403245262336e-06, + "observation_loss": 5.459817657538224e-06, + "chamfer": 4.5466790652426425e-06, + "track": 9.131387628258381e-07, + "acceleration": 3.5658564456753084e-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": 5.512951702257851e-06, + "observation_loss": 5.3064081839693245e-06, + "chamfer": 4.422829988470767e-06, + "track": 8.835780249683012e-07, + "acceleration": 2.0654370302963798e-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": 5.392561888584169e-06, + "observation_loss": 5.223098014539573e-06, + "chamfer": 4.3534223550523166e-06, + "track": 8.696756026438379e-07, + "acceleration": 1.69463987731433e-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": 5.407211119745625e-06, + "observation_loss": 5.155206054041628e-06, + "chamfer": 4.29858027928276e-06, + "track": 8.566259452891245e-07, + "acceleration": 2.520051793908351e-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": 5.308459549269173e-06, + "observation_loss": 5.007595973438583e-06, + "chamfer": 4.180368250672473e-06, + "track": 8.272278932963673e-07, + "acceleration": 3.0086366109571827e-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": 5.0278981689189095e-06, + "observation_loss": 4.83340318169212e-06, + "chamfer": 4.041149622935336e-06, + "track": 7.922533313831082e-07, + "acceleration": 1.944947740639691e-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": 4.9349987421010155e-06, + "observation_loss": 4.766620804730337e-06, + "chamfer": 3.980283509008586e-06, + "track": 7.863372957217507e-07, + "acceleration": 1.6837805105751613e-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": 5.037340542912716e-06, + "observation_loss": 4.862139121541986e-06, + "chamfer": 4.044431534566684e-06, + "track": 8.177075301318837e-07, + "acceleration": 1.7520156347927696e-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": 5.404752300819382e-06, + "observation_loss": 5.089110345579684e-06, + "chamfer": 4.2089309317816515e-06, + "track": 8.801792432677757e-07, + "acceleration": 3.156421541916643e-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": 5.766336471424438e-06, + "observation_loss": 5.3849526011617854e-06, + "chamfer": 4.425985935085919e-06, + "track": 9.58966552389029e-07, + "acceleration": 3.813840123711998e-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": 5.831313956150552e-06, + "observation_loss": 5.5808804972912185e-06, + "chamfer": 4.5764545575366355e-06, + "track": 1.0044261671282584e-06, + "acceleration": 2.504333735942055e-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": 6.191874490468763e-06, + "observation_loss": 5.6249709814437665e-06, + "chamfer": 4.617502327164402e-06, + "track": 1.0074684269056888e-06, + "acceleration": 5.66903622711834e-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": 5.881444394617574e-06, + "observation_loss": 5.6501321523683146e-06, + "chamfer": 4.642080057237763e-06, + "track": 1.0080520951305516e-06, + "acceleration": 2.3131207171900314e-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": 5.704931936634239e-06, + "observation_loss": 5.605287697107997e-06, + "chamfer": 4.610813903127564e-06, + "track": 9.944735666067572e-07, + "acceleration": 9.964402636342129e-08, + "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": 5.8640966926759575e-06, + "observation_loss": 5.701619556930382e-06, + "chamfer": 4.685947260441026e-06, + "track": 1.015672296489356e-06, + "acceleration": 1.6247703626959265e-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": 6.012372978148051e-06, + "observation_loss": 5.901961230847519e-06, + "chamfer": 4.844989689445356e-06, + "track": 1.0569714277153253e-06, + "acceleration": 1.1041174730053172e-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": 6.230248800420668e-06, + "observation_loss": 6.120075340732001e-06, + "chamfer": 5.005221737519605e-06, + "track": 1.1148533758387202e-06, + "acceleration": 1.101734099506757e-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": 6.397503511834657e-06, + "observation_loss": 6.283887614699779e-06, + "chamfer": 5.13389250045293e-06, + "track": 1.149995114246849e-06, + "acceleration": 1.1361598240000603e-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": 6.700199264741968e-06, + "observation_loss": 6.53130337013863e-06, + "chamfer": 5.316082024364732e-06, + "track": 1.215221345773898e-06, + "acceleration": 1.6889582354906452e-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": 6.875548933749087e-06, + "observation_loss": 6.806166766182287e-06, + "chamfer": 5.52054325453355e-06, + "track": 1.2856236253355746e-06, + "acceleration": 6.938229546449293e-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": 7.241171715577366e-06, + "observation_loss": 6.8839990490232594e-06, + "chamfer": 5.592241905105766e-06, + "track": 1.2917570302306558e-06, + "acceleration": 3.571724676021404e-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": 6.874653081467841e-06, + "observation_loss": 6.715055860695429e-06, + "chamfer": 5.4820052355353255e-06, + "track": 1.2330506251601037e-06, + "acceleration": 1.5959703603130038e-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": 6.8239069150877185e-06, + "observation_loss": 6.640412266278872e-06, + "chamfer": 5.427270025393227e-06, + "track": 1.2131423545724829e-06, + "acceleration": 1.8349454933286324e-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": 7.153571459639352e-06, + "observation_loss": 6.883547484903829e-06, + "chamfer": 5.610091648122761e-06, + "track": 1.2734559504679055e-06, + "acceleration": 2.700238610486849e-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": 7.414360879920423e-06, + "observation_loss": 7.217820893856697e-06, + "chamfer": 5.846983185620047e-06, + "track": 1.3708374808629742e-06, + "acceleration": 1.965398439551791e-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": 7.440135050273966e-06, + "observation_loss": 7.35391358830384e-06, + "chamfer": 5.926252470089821e-06, + "track": 1.4276612319008564e-06, + "acceleration": 8.62214051267074e-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": 7.521653060393874e-06, + "observation_loss": 7.475257461919682e-06, + "chamfer": 6.006872808939079e-06, + "track": 1.4683845392937656e-06, + "acceleration": 4.639577255716176e-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": 7.608196028741077e-06, + "observation_loss": 7.534848919021897e-06, + "chamfer": 6.04447541263653e-06, + "track": 1.4903735063853674e-06, + "acceleration": 7.33471878788805e-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": 7.656713933101855e-06, + "observation_loss": 7.547823315690039e-06, + "chamfer": 6.052561730029993e-06, + "track": 1.4952614719732082e-06, + "acceleration": 1.0889029056215804e-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": 7.79932270233985e-06, + "observation_loss": 7.591420398966875e-06, + "chamfer": 6.082797881390434e-06, + "track": 1.5086222902027657e-06, + "acceleration": 2.0790253074665088e-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": 8.109109330689535e-06, + "observation_loss": 7.966807970660739e-06, + "chamfer": 6.345305337163154e-06, + "track": 1.6215029745580978e-06, + "acceleration": 1.4230133160708647e-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": 8.673813681525644e-06, + "observation_loss": 8.589415301685221e-06, + "chamfer": 6.7678683990379795e-06, + "track": 1.8215472437077551e-06, + "acceleration": 8.439844378926864e-08, + "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": 9.326874533144291e-06, + "observation_loss": 9.056974704435561e-06, + "chamfer": 7.090936833265005e-06, + "track": 1.9660380985442316e-06, + "acceleration": 2.6989994239556836e-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": 9.093168046092615e-06, + "observation_loss": 8.92890602699481e-06, + "chamfer": 7.008965894783614e-06, + "track": 1.91993990483752e-06, + "acceleration": 1.642621896280616e-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": 8.842059287417214e-06, + "observation_loss": 8.63614786794642e-06, + "chamfer": 6.826147000538185e-06, + "track": 1.81000109478191e-06, + "acceleration": 2.0591149052506807e-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": 8.438034456048626e-06, + "observation_loss": 8.384517059312202e-06, + "chamfer": 6.657007361354772e-06, + "track": 1.7275100390179432e-06, + "acceleration": 5.3517432263561204e-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": 8.24721973913256e-06, + "observation_loss": 8.192855602828786e-06, + "chamfer": 6.520966962852981e-06, + "track": 1.6718887536626426e-06, + "acceleration": 5.4364186041766516e-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": 8.221370990213472e-06, + "observation_loss": 8.160012839653064e-06, + "chamfer": 6.491334715974517e-06, + "track": 1.6686777826180332e-06, + "acceleration": 6.135826424724655e-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": 8.289381185022648e-06, + "observation_loss": 8.22312449599849e-06, + "chamfer": 6.532901807076996e-06, + "track": 1.6902228026083321e-06, + "acceleration": 6.625628401479844e-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": 8.32112618809333e-06, + "observation_loss": 8.282542694360018e-06, + "chamfer": 6.575126917596208e-06, + "track": 1.7074156630769721e-06, + "acceleration": 3.858389518995864e-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": 8.498275747115258e-06, + "observation_loss": 8.323120709974319e-06, + "chamfer": 6.588513315364253e-06, + "track": 1.7346078493574169e-06, + "acceleration": 1.7515471029128094e-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": 8.74074703460792e-06, + "observation_loss": 8.384430657315534e-06, + "chamfer": 6.63404489387176e-06, + "track": 1.7503857634437736e-06, + "acceleration": 3.563166899311909e-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": 9.258734280592762e-06, + "observation_loss": 8.496279406244867e-06, + "chamfer": 6.696989203192061e-06, + "track": 1.7992904304264812e-06, + "acceleration": 7.624552722518274e-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": 9.741024769027717e-06, + "observation_loss": 8.647446520626545e-06, + "chamfer": 6.807427325838944e-06, + "track": 1.8400188537270878e-06, + "acceleration": 1.0935787031485233e-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": 9.369834515382536e-06, + "observation_loss": 8.785459613136481e-06, + "chamfer": 6.905434474901995e-06, + "track": 1.8800253656081622e-06, + "acceleration": 5.8437461802896e-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": 9.274119292967953e-06, + "observation_loss": 9.060787306225393e-06, + "chamfer": 7.096051376720425e-06, + "track": 1.9647359295049682e-06, + "acceleration": 2.1333190147743153e-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": 9.579037396179046e-06, + "observation_loss": 9.426443284610286e-06, + "chamfer": 7.3294104367960244e-06, + "track": 2.097033302561613e-06, + "acceleration": 1.5259415420132427e-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": 9.957472684618551e-06, + "observation_loss": 9.892038178804796e-06, + "chamfer": 7.633901077497285e-06, + "track": 2.258136873933836e-06, + "acceleration": 6.543437791606266e-08, + "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": 1.0182523510593455e-05, + "observation_loss": 1.0126139386557043e-05, + "chamfer": 7.783100954839028e-06, + "track": 2.3430379769706633e-06, + "acceleration": 5.63841382472674e-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": 1.0510727406654041e-05, + "observation_loss": 1.027745474857511e-05, + "chamfer": 7.872807145758998e-06, + "track": 2.4046478301897878e-06, + "acceleration": 2.3327289966346143e-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": 1.0553329957474489e-05, + "observation_loss": 1.0408490197733045e-05, + "chamfer": 7.928301783977076e-06, + "track": 2.480188868503319e-06, + "acceleration": 1.4484004395853844e-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": 1.055606480804272e-05, + "observation_loss": 1.0465415471117012e-05, + "chamfer": 7.944769095047377e-06, + "track": 2.5206459213222843e-06, + "acceleration": 9.064942219083605e-08, + "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": 1.0625859431456774e-05, + "observation_loss": 1.0364803529228084e-05, + "chamfer": 7.876572453824338e-06, + "track": 2.488231530151097e-06, + "acceleration": 2.610557316984341e-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": 1.0831948202394415e-05, + "observation_loss": 1.016940404952038e-05, + "chamfer": 7.760884727758821e-06, + "track": 2.408518867014209e-06, + "acceleration": 6.625439823437773e-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": 1.0540923540247604e-05, + "observation_loss": 1.0124797881871928e-05, + "chamfer": 7.726413969066925e-06, + "track": 2.3983836854313267e-06, + "acceleration": 4.16125544688839e-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": 1.117554620577721e-05, + "observation_loss": 1.010597225103993e-05, + "chamfer": 7.711322723480407e-06, + "track": 2.394649754933198e-06, + "acceleration": 1.0695736136767664e-06, + "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": 1.4571655810868833e-05, + "observation_loss": 9.94131823972566e-06, + "chamfer": 7.581756563013187e-06, + "track": 2.3595619040861493e-06, + "acceleration": 4.630337571143173e-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": 1.2638757652894128e-05, + "observation_loss": 1.0084963832923677e-05, + "chamfer": 7.695390195294749e-06, + "track": 2.389573637628928e-06, + "acceleration": 2.5537940473441267e-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": 1.092923957912717e-05, + "observation_loss": 1.0181862307945266e-05, + "chamfer": 7.76177148509305e-06, + "track": 2.4200905954785412e-06, + "acceleration": 7.473773848687415e-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": 1.0706269677029923e-05, + "observation_loss": 1.019526371237589e-05, + "chamfer": 7.738247404631693e-06, + "track": 2.457016535117873e-06, + "acceleration": 5.11005623593519e-07, + "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": 1.052980496751843e-05, + "observation_loss": 1.0233610737486742e-05, + "chamfer": 7.744665708742104e-06, + "track": 2.4889452561183134e-06, + "acceleration": 2.9619386054946517e-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": 1.081750997400377e-05, + "observation_loss": 1.0516234397073276e-05, + "chamfer": 7.888025720603764e-06, + "track": 2.6282086764695123e-06, + "acceleration": 3.012754916653648e-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": 1.1065589205827564e-05, + "observation_loss": 1.0833391570486128e-05, + "chamfer": 8.046049515542109e-06, + "track": 2.787342282317695e-06, + "acceleration": 2.3219801903451298e-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": 1.1458247172413394e-05, + "observation_loss": 1.1197812455066014e-05, + "chamfer": 8.240866918640677e-06, + "track": 2.956945536425337e-06, + "acceleration": 2.604348310342175e-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": 1.1650027772702742e-05, + "observation_loss": 1.1414870641601738e-05, + "chamfer": 8.357852493645623e-06, + "track": 3.0570181479561143e-06, + "acceleration": 2.3515674740792747e-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": 1.1793234989454504e-05, + "observation_loss": 1.1595595424296334e-05, + "chamfer": 8.473840352962725e-06, + "track": 3.121754843959934e-06, + "acceleration": 1.9763996306210174e-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": 1.1986262506979983e-05, + "observation_loss": 1.188050282507902e-05, + "chamfer": 8.65011134010274e-06, + "track": 3.230391712349956e-06, + "acceleration": 1.0575985953664713e-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": 1.226120821229415e-05, + "observation_loss": 1.2166803571744822e-05, + "chamfer": 8.82258427736815e-06, + "track": 3.344219749124022e-06, + "acceleration": 9.440498160984134e-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": 1.2359537322481629e-05, + "observation_loss": 1.2296125532884616e-05, + "chamfer": 8.885819624993019e-06, + "track": 3.410305680517922e-06, + "acceleration": 6.341195302184133e-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": 1.244389932253398e-05, + "observation_loss": 1.2369680916890502e-05, + "chamfer": 8.93821197678335e-06, + "track": 3.4314693948545028e-06, + "acceleration": 7.421848380317897e-08, + "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": 1.247367799805943e-05, + "observation_loss": 1.2392606549838092e-05, + "chamfer": 8.927927410695702e-06, + "track": 3.464678911768715e-06, + "acceleration": 8.107186033612379e-08, + "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": 1.2469065950426739e-05, + "observation_loss": 1.2418866390362382e-05, + "chamfer": 8.922924280341249e-06, + "track": 3.495942110021133e-06, + "acceleration": 5.0199854939592115e-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": 1.2538168448372744e-05, + "observation_loss": 1.239610901393462e-05, + "chamfer": 8.91184936335776e-06, + "track": 3.4842596505768597e-06, + "acceleration": 1.42059050745047e-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": 1.252307447430212e-05, + "observation_loss": 1.238528511748882e-05, + "chamfer": 8.905238246370573e-06, + "track": 3.480046643744572e-06, + "acceleration": 1.3778951313270227e-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": 1.2387653441692237e-05, + "observation_loss": 1.2368316674837843e-05, + "chamfer": 8.878373591869604e-06, + "track": 3.489943310341914e-06, + "acceleration": 1.9336892975729825e-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": 1.2423830412444659e-05, + "observation_loss": 1.235412582900608e-05, + "chamfer": 8.860813068167772e-06, + "track": 3.493312533464632e-06, + "acceleration": 6.970494581537423e-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": 1.2497524039645214e-05, + "observation_loss": 1.2356631486909464e-05, + "chamfer": 8.855432497512084e-06, + "track": 3.5011985346500296e-06, + "acceleration": 1.4089218325352704e-07, + "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": 1.2402862921589985e-05, + "observation_loss": 1.2275796507310588e-05, + "chamfer": 8.810625331534538e-06, + "track": 3.4651711757760495e-06, + "acceleration": 1.270667127073466e-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": 1.2164613508502953e-05, + "observation_loss": 1.212350616697222e-05, + "chamfer": 8.731358320801519e-06, + "track": 3.3921476187970256e-06, + "acceleration": 4.110726337103188e-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": 9.091302096919662e-06, + "chamfer_mean": 6.231163249973785e-06, + "track_mean": 1.7792807171327734e-06, + "acceleration_mean": 1.0808581457448045e-06, + "observation_score": 8.01044396562626e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4287071759990795 + }, + "score_arrays_file": "pass_scores/pass_end_0173.npz", + "score_arrays_sha256": "05dc267af8b29ba5dab505bf7c974554526d2a7645ba4796c6bf3cb3d9047fd6" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0174.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0174.json new file mode 100644 index 0000000000000000000000000000000000000000..71e6b66ab1aa97e53f543367f385c863bfed6c13 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0174.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16704, + "completed_passes": 174, + "snapshot": "pass_end_0174", + "candidate": true, + "snapshot_arrays_sha256": "ba3b82e89806d2fb1d8b7c1f683708a61ca1b8a308e17cfab594f2a1d448d099", + "score": 7.994496444988878e-06, + "score_result": { + "score": 7.994496444988878e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.946010454252246e-06, + 3.227780098313815e-06, + 3.5440496048977366e-06, + 4.120455741940532e-06, + 4.825878477277001e-06, + 5.14117164129857e-06, + 5.063163371232804e-06, + 4.950296442984836e-06, + 4.820718004339142e-06, + 4.840121619054116e-06, + 5.097081611893373e-06, + 5.373496151150903e-06, + 5.602642886515241e-06, + 5.742289886256913e-06, + 5.748538569605444e-06, + 5.825743755849544e-06, + 5.685386895493139e-06, + 5.440255790745141e-06, + 5.2886925914208405e-06, + 5.205808065511519e-06, + 5.13723216499784e-06, + 4.990372872271109e-06, + 4.819544301426504e-06, + 4.754133897222346e-06, + 4.847295713261701e-06, + 5.07074355482473e-06, + 5.367452104110271e-06, + 5.562061232922133e-06, + 5.606827471638098e-06, + 5.639312803396024e-06, + 5.597110430244356e-06, + 5.69389294469147e-06, + 5.894270543649327e-06, + 6.109398782427888e-06, + 6.2697954490431584e-06, + 6.513622338388814e-06, + 6.787765414628666e-06, + 6.867910997243598e-06, + 6.696438504150137e-06, + 6.615118763875216e-06, + 6.852391379652545e-06, + 7.186580205598148e-06, + 7.32272383174859e-06, + 7.444157745339908e-06, + 7.503908818762284e-06, + 7.517634003306739e-06, + 7.562797236460028e-06, + 7.937935151858255e-06, + 8.559464731661137e-06, + 9.026983207149897e-06, + 8.898548912839033e-06, + 8.606663868704345e-06, + 8.355225872946903e-06, + 8.16445390228182e-06, + 8.131333743222058e-06, + 8.195214832085185e-06, + 8.255839929915965e-06, + 8.296187843370717e-06, + 8.35704577184515e-06, + 8.469085514661856e-06, + 8.620258995506447e-06, + 8.757797331782058e-06, + 9.032923117047176e-06, + 9.399163900525309e-06, + 9.86522081802832e-06, + 1.0100875442731194e-05, + 1.025347228278406e-05, + 1.0386275789642241e-05, + 1.0443607607157901e-05, + 1.0344218935642857e-05, + 1.0150955858989619e-05, + 1.0107238267664798e-05, + 1.0091160220326856e-05, + 9.928649888024665e-06, + 1.0077727893076371e-05, + 1.0176828254770953e-05, + 1.0191644832957536e-05, + 1.0230609404970892e-05, + 1.0512225344427861e-05, + 1.0830497558345087e-05, + 1.1195177648914978e-05, + 1.1415801054681651e-05, + 1.1595881915127393e-05, + 1.1878287295985501e-05, + 1.2164985491835978e-05, + 1.2295461601752322e-05, + 1.2368497664283495e-05, + 1.2391520613164175e-05, + 1.2418971891747788e-05, + 1.2396167221595533e-05, + 1.2385193258523941e-05, + 1.2369724572636187e-05, + 1.2356431398075074e-05, + 1.2359618267510086e-05, + 1.227848042617552e-05, + 1.2126048204663675e-05 + ] + ], + "episode_mean_losses": [ + 7.994496444988878e-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": 2.946010454252246e-06, + "observation_loss": 2.946010454252246e-06, + "chamfer": 2.4989496978378156e-06, + "track": 4.470606711493019e-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": 4.227983663440682e-05, + "observation_loss": 3.227780098313815e-06, + "chamfer": 2.730556161623099e-06, + "track": 4.972239935341349e-07, + "acceleration": 3.905205812770873e-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": 2.5093269869103096e-05, + "observation_loss": 3.5440496048977366e-06, + "chamfer": 2.9960463052702835e-06, + "track": 5.480032427840342e-07, + "acceleration": 2.1549220036831684e-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": 1.1706382792908698e-05, + "observation_loss": 4.120455741940532e-06, + "chamfer": 3.460400648691575e-06, + "track": 6.600548658752814e-07, + "acceleration": 7.5859270509681664e-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": 9.270857844967395e-06, + "observation_loss": 4.825878477277001e-06, + "chamfer": 4.011498276668135e-06, + "track": 8.143801437654474e-07, + "acceleration": 4.444979822437745e-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": 6.7274550019646995e-06, + "observation_loss": 5.14117164129857e-06, + "chamfer": 4.252549388183979e-06, + "track": 8.886221394277527e-07, + "acceleration": 1.5862835880398052e-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": 6.114290499681374e-06, + "observation_loss": 5.063163371232804e-06, + "chamfer": 4.180539235676406e-06, + "track": 8.826240218695602e-07, + "acceleration": 1.0511272421354079e-06, + "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": 5.5403866099368315e-06, + "observation_loss": 4.950296442984836e-06, + "chamfer": 4.089308731636265e-06, + "track": 8.609875976617332e-07, + "acceleration": 5.900900532651576e-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": 5.634250555885956e-06, + "observation_loss": 4.820718004339142e-06, + "chamfer": 3.991951871284982e-06, + "track": 8.287661330541596e-07, + "acceleration": 8.135327220770705e-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": 5.408885499491589e-06, + "observation_loss": 4.840121619054116e-06, + "chamfer": 4.0171162254409865e-06, + "track": 8.230052230828733e-07, + "acceleration": 5.687640509677294e-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": 5.3855728765483946e-06, + "observation_loss": 5.097081611893373e-06, + "chamfer": 4.2382694118714426e-06, + "track": 8.588121431785112e-07, + "acceleration": 2.884914920286974e-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": 5.6429989854223095e-06, + "observation_loss": 5.373496151150903e-06, + "chamfer": 4.464912763069151e-06, + "track": 9.085833312383329e-07, + "acceleration": 2.695029763799539e-07, + "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": 5.749729098170064e-06, + "observation_loss": 5.602642886515241e-06, + "chamfer": 4.661425464291824e-06, + "track": 9.412176495970925e-07, + "acceleration": 1.4708638218507986e-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": 6.026499704603339e-06, + "observation_loss": 5.742289886256913e-06, + "chamfer": 4.778714810527163e-06, + "track": 9.6357507572975e-07, + "acceleration": 2.8420998887668247e-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": 6.048864179319935e-06, + "observation_loss": 5.748538569605444e-06, + "chamfer": 4.786282715940615e-06, + "track": 9.62256081038504e-07, + "acceleration": 3.00325524449363e-07, + "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": 6.014631253492553e-06, + "observation_loss": 5.825743755849544e-06, + "chamfer": 4.848590833717026e-06, + "track": 9.771529221325181e-07, + "acceleration": 1.8888739816702582e-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": 5.91416574025061e-06, + "observation_loss": 5.685386895493139e-06, + "chamfer": 4.731858098239172e-06, + "track": 9.535288540973852e-07, + "acceleration": 2.287787310706335e-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": 5.795956894871779e-06, + "observation_loss": 5.440255790745141e-06, + "chamfer": 4.531315880740294e-06, + "track": 9.08939796318009e-07, + "acceleration": 3.557009904398001e-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": 5.49718197362381e-06, + "observation_loss": 5.2886925914208405e-06, + "chamfer": 4.408719632920111e-06, + "track": 8.79972901657311e-07, + "acceleration": 2.0848936799211515e-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": 5.377461093303282e-06, + "observation_loss": 5.205808065511519e-06, + "chamfer": 4.339550741860876e-06, + "track": 8.662574941808998e-07, + "acceleration": 1.7165316990030988e-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": 5.390132173488382e-06, + "observation_loss": 5.13723216499784e-06, + "chamfer": 4.2840943024202716e-06, + "track": 8.53137748890731e-07, + "acceleration": 2.5290017902079853e-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": 5.291958586894907e-06, + "observation_loss": 4.990372872271109e-06, + "chamfer": 4.1663624870125204e-06, + "track": 8.240103284151701e-07, + "acceleration": 3.015856293586694e-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": 5.013075679016765e-06, + "observation_loss": 4.819544301426504e-06, + "chamfer": 4.029828232887667e-06, + "track": 7.897158980085806e-07, + "acceleration": 1.9353140601197083e-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": 4.925655048282351e-06, + "observation_loss": 4.754133897222346e-06, + "chamfer": 3.970028046751395e-06, + "track": 7.841059073143697e-07, + "acceleration": 1.715212079034245e-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": 5.02765215060208e-06, + "observation_loss": 4.847295713261701e-06, + "chamfer": 4.032445758639369e-06, + "track": 8.148498409354943e-07, + "acceleration": 1.803562952318316e-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": 5.380593847803539e-06, + "observation_loss": 5.07074355482473e-06, + "chamfer": 4.1940470509871375e-06, + "track": 8.766965606810118e-07, + "acceleration": 3.09850406665646e-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": 5.736604180128779e-06, + "observation_loss": 5.367452104110271e-06, + "chamfer": 4.41187921751407e-06, + "track": 9.555726592225255e-07, + "acceleration": 3.691522181270557e-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": 5.803789917990798e-06, + "observation_loss": 5.562061232922133e-06, + "chamfer": 4.5612787289428525e-06, + "track": 1.0007825039792806e-06, + "acceleration": 2.4172868506866507e-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": 6.180218861118192e-06, + "observation_loss": 5.606827471638098e-06, + "chamfer": 4.602633907779818e-06, + "track": 1.0041934501714422e-06, + "acceleration": 5.733912189498369e-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": 5.87347039981978e-06, + "observation_loss": 5.639312803396024e-06, + "chamfer": 4.633019671018701e-06, + "track": 1.006293018690485e-06, + "acceleration": 2.3415762484546576e-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": 5.69627309232601e-06, + "observation_loss": 5.597110430244356e-06, + "chamfer": 4.603945399139775e-06, + "track": 9.931649174177437e-07, + "acceleration": 9.916249155139667e-08, + "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": 5.862731995875947e-06, + "observation_loss": 5.69389294469147e-06, + "chamfer": 4.679606718127616e-06, + "track": 1.0142862265638541e-06, + "acceleration": 1.68839264347298e-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": 6.003730959491804e-06, + "observation_loss": 5.894270543649327e-06, + "chamfer": 4.838603217649506e-06, + "track": 1.055667553373496e-06, + "acceleration": 1.0946025241764801e-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": 6.219303031684831e-06, + "observation_loss": 6.109398782427888e-06, + "chamfer": 4.996560164727271e-06, + "track": 1.1128388450742932e-06, + "acceleration": 1.0990441268177165e-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": 6.3846359807939734e-06, + "observation_loss": 6.2697954490431584e-06, + "chamfer": 5.122666152601596e-06, + "track": 1.1471292964415625e-06, + "acceleration": 1.1484046780196877e-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": 6.681975264655193e-06, + "observation_loss": 6.513622338388814e-06, + "chamfer": 5.301951659930637e-06, + "track": 1.2116707921450143e-06, + "acceleration": 1.683529688989438e-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": 6.857773769297637e-06, + "observation_loss": 6.787765414628666e-06, + "chamfer": 5.505691660800949e-06, + "track": 1.2820737538277172e-06, + "acceleration": 7.000832624726172e-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": 7.225369699881412e-06, + "observation_loss": 6.867910997243598e-06, + "chamfer": 5.579197022598237e-06, + "track": 1.288714088332199e-06, + "acceleration": 3.5745858895097626e-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": 6.855842912045773e-06, + "observation_loss": 6.696438504150137e-06, + "chamfer": 5.466927177621983e-06, + "track": 1.229511440214992e-06, + "acceleration": 1.5940433684136224e-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": 6.7989299168402795e-06, + "observation_loss": 6.615118763875216e-06, + "chamfer": 5.406984200817533e-06, + "track": 1.2081345630576834e-06, + "acceleration": 1.8381129507361038e-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": 7.1229278546525165e-06, + "observation_loss": 6.852391379652545e-06, + "chamfer": 5.585442977462662e-06, + "track": 1.2669482885030448e-06, + "acceleration": 2.7053624762629624e-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": 7.3834862632793374e-06, + "observation_loss": 7.186580205598148e-06, + "chamfer": 5.822628281748621e-06, + "track": 1.3639520375363645e-06, + "acceleration": 1.9690595820520684e-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": 7.408541478071129e-06, + "observation_loss": 7.32272383174859e-06, + "chamfer": 5.901857548451517e-06, + "track": 1.4208661696102354e-06, + "acceleration": 8.581761079540229e-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": 7.4907807174895424e-06, + "observation_loss": 7.444157745339908e-06, + "chamfer": 5.982605216559023e-06, + "track": 1.4615523014072096e-06, + "acceleration": 4.6622908200788515e-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": 7.577225460408954e-06, + "observation_loss": 7.503908818762284e-06, + "chamfer": 6.020320597599493e-06, + "track": 1.4835881074759527e-06, + "acceleration": 7.33164711164136e-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": 7.6263363553152885e-06, + "observation_loss": 7.517634003306739e-06, + "chamfer": 6.028960797266336e-06, + "track": 1.4886730923535652e-06, + "acceleration": 1.0870255806594287e-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": 7.769969670334831e-06, + "observation_loss": 7.562797236460028e-06, + "chamfer": 6.060552095732419e-06, + "track": 1.5022452544144471e-06, + "acceleration": 2.0717210702514421e-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": 8.080475708993617e-06, + "observation_loss": 7.937935151858255e-06, + "chamfer": 6.32300361758098e-06, + "track": 1.614931647964113e-06, + "acceleration": 1.4254035818339617e-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": 8.64405865286244e-06, + "observation_loss": 8.559464731661137e-06, + "chamfer": 6.74526108923601e-06, + "track": 1.8142039834856405e-06, + "acceleration": 8.459428357809884e-08, + "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": 9.296787538914941e-06, + "observation_loss": 9.026983207149897e-06, + "chamfer": 7.068937065923819e-06, + "track": 1.9580461412260775e-06, + "acceleration": 2.6980438860846334e-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": 9.063446668733377e-06, + "observation_loss": 8.898548912839033e-06, + "chamfer": 6.986411335674347e-06, + "track": 1.912137804538361e-06, + "acceleration": 1.6489758536408772e-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": 8.813224667392205e-06, + "observation_loss": 8.606663868704345e-06, + "chamfer": 6.803883934480837e-06, + "track": 1.8027799342235085e-06, + "acceleration": 2.0656052868162078e-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": 8.409331712755375e-06, + "observation_loss": 8.355225872946903e-06, + "chamfer": 6.634474175370997e-06, + "track": 1.7207519249495817e-06, + "acceleration": 5.4105473878962584e-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": 8.218775292334612e-06, + "observation_loss": 8.16445390228182e-06, + "chamfer": 6.498940820165444e-06, + "track": 1.6655135368637275e-06, + "acceleration": 5.432115912640256e-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": 8.1927601058851e-06, + "observation_loss": 8.131333743222058e-06, + "chamfer": 6.46891840005992e-06, + "track": 1.6624150021016249e-06, + "acceleration": 6.142660424757196e-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": 8.261369657702744e-06, + "observation_loss": 8.195214832085185e-06, + "chamfer": 6.511288574984064e-06, + "track": 1.6839263707879581e-06, + "acceleration": 6.615503167495262e-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": 8.294256986118853e-06, + "observation_loss": 8.255839929915965e-06, + "chamfer": 6.554691026394721e-06, + "track": 1.7011492445817566e-06, + "acceleration": 3.841729778741865e-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": 8.47160663397517e-06, + "observation_loss": 8.296187843370717e-06, + "chamfer": 6.568110620719381e-06, + "track": 1.7280775637118495e-06, + "acceleration": 1.7541850638735923e-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": 8.71448173711542e-06, + "observation_loss": 8.35704577184515e-06, + "chamfer": 6.613457117055077e-06, + "track": 1.7435883137295605e-06, + "acceleration": 3.5743576631830365e-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": 9.23401239560917e-06, + "observation_loss": 8.469085514661856e-06, + "chamfer": 6.676832526864018e-06, + "track": 1.7922527604241623e-06, + "acceleration": 7.649268241038953e-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": 9.717419743537903e-06, + "observation_loss": 8.620258995506447e-06, + "chamfer": 6.787647180317435e-06, + "track": 1.8326118151890114e-06, + "acceleration": 1.0971604069709429e-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": 9.345055332232732e-06, + "observation_loss": 8.757797331782058e-06, + "chamfer": 6.885356924613006e-06, + "track": 1.872440179795376e-06, + "acceleration": 5.872577162335801e-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": 9.247695743397344e-06, + "observation_loss": 9.032923117047176e-06, + "chamfer": 7.075886514940066e-06, + "track": 1.957036829480785e-06, + "acceleration": 2.1477228528965497e-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": 9.55301493377192e-06, + "observation_loss": 9.399163900525309e-06, + "chamfer": 7.309842203540029e-06, + "track": 2.08932169698528e-06, + "acceleration": 1.5385076324037072e-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": 9.931241947924718e-06, + "observation_loss": 9.86522081802832e-06, + "chamfer": 7.614643891429296e-06, + "track": 2.250576926599024e-06, + "acceleration": 6.602130753208257e-08, + "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": 1.0157580618397333e-05, + "observation_loss": 1.0100875442731194e-05, + "chamfer": 7.765162990835961e-06, + "track": 2.3357124518952332e-06, + "acceleration": 5.670547054137387e-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": 1.048777085088659e-05, + "observation_loss": 1.025347228278406e-05, + "chamfer": 7.855873263906687e-06, + "track": 2.397599018877372e-06, + "acceleration": 2.3429818440945382e-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": 1.0531977750360966e-05, + "observation_loss": 1.0386275789642241e-05, + "chamfer": 7.912774890428409e-06, + "track": 2.473500899213832e-06, + "acceleration": 1.4570230177923804e-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": 1.053483174473513e-05, + "observation_loss": 1.0443607607157901e-05, + "chamfer": 7.929254024929833e-06, + "track": 2.5143538096017437e-06, + "acceleration": 9.122386757098866e-08, + "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": 1.0606379873934202e-05, + "observation_loss": 1.0344218935642857e-05, + "chamfer": 7.861935955588706e-06, + "track": 2.482282752680476e-06, + "acceleration": 2.6216116566502023e-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": 1.0815502719196957e-05, + "observation_loss": 1.0150955858989619e-05, + "chamfer": 7.748240932414774e-06, + "track": 2.4027146992011694e-06, + "acceleration": 6.645470875810133e-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": 1.0524621757213026e-05, + "observation_loss": 1.0107238267664798e-05, + "chamfer": 7.714166713412851e-06, + "track": 2.393071781625622e-06, + "acceleration": 4.1738334743968153e-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": 1.1198125321243424e-05, + "observation_loss": 1.0091160220326856e-05, + "chamfer": 7.700931746512651e-06, + "track": 2.3902284738142043e-06, + "acceleration": 1.1069653282902436e-06, + "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": 1.470915594836697e-05, + "observation_loss": 9.928649888024665e-06, + "chamfer": 7.57282214181032e-06, + "track": 2.355828200961696e-06, + "acceleration": 4.780506060342304e-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": 1.2722889550786931e-05, + "observation_loss": 1.0077727893076371e-05, + "chamfer": 7.690203347010538e-06, + "track": 2.3875245460658334e-06, + "acceleration": 2.6451614303368842e-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": 1.0945929716399405e-05, + "observation_loss": 1.0176828254770953e-05, + "chamfer": 7.75844273448456e-06, + "track": 2.4183855202863924e-06, + "acceleration": 7.691015184718708e-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": 1.0725831089075655e-05, + "observation_loss": 1.0191644832957536e-05, + "chamfer": 7.73606097936863e-06, + "track": 2.4555840809625806e-06, + "acceleration": 5.341865971786319e-07, + "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": 1.053144660545513e-05, + "observation_loss": 1.0230609404970892e-05, + "chamfer": 7.743400601611938e-06, + "track": 2.4872083486116026e-06, + "acceleration": 3.0083680258030654e-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": 1.0815804671437945e-05, + "observation_loss": 1.0512225344427861e-05, + "chamfer": 7.886412277002819e-06, + "track": 2.6258126126776915e-06, + "acceleration": 3.0357961122717825e-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": 1.1067369086958934e-05, + "observation_loss": 1.0830497558345087e-05, + "chamfer": 8.045466529438272e-06, + "track": 2.7850308015331393e-06, + "acceleration": 2.3687150019213732e-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": 1.146993599832058e-05, + "observation_loss": 1.1195177648914978e-05, + "chamfer": 8.239793714892585e-06, + "track": 2.955383934022393e-06, + "acceleration": 2.7475826414047333e-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": 1.1660154086712282e-05, + "observation_loss": 1.1415801054681651e-05, + "chamfer": 8.359247658518143e-06, + "track": 3.056553168789833e-06, + "acceleration": 2.4435328782601573e-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": 1.1793293197115418e-05, + "observation_loss": 1.1595881915127393e-05, + "chamfer": 8.475127287965734e-06, + "track": 3.1207548545353347e-06, + "acceleration": 1.974113530422983e-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": 1.1982024261669721e-05, + "observation_loss": 1.1878287295985501e-05, + "chamfer": 8.649754818179645e-06, + "track": 3.228532250432181e-06, + "acceleration": 1.0373737779900694e-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": 1.2261990377737675e-05, + "observation_loss": 1.2164985491835978e-05, + "chamfer": 8.822628842608538e-06, + "track": 3.342356876601116e-06, + "acceleration": 9.700465142259418e-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": 1.236054322362179e-05, + "observation_loss": 1.2295461601752322e-05, + "chamfer": 8.88666636456037e-06, + "track": 3.408795464565628e-06, + "acceleration": 6.508193450827093e-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": 1.2444666936062276e-05, + "observation_loss": 1.2368497664283495e-05, + "chamfer": 8.938795872381888e-06, + "track": 3.429701791901607e-06, + "acceleration": 7.61690657213876e-08, + "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": 1.2474057257350069e-05, + "observation_loss": 1.2391520613164175e-05, + "chamfer": 8.9282339104102e-06, + "track": 3.4632864753803005e-06, + "acceleration": 8.253659444790173e-08, + "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": 1.247107229573885e-05, + "observation_loss": 1.2418971891747788e-05, + "chamfer": 8.924098438001238e-06, + "track": 3.4948739084939007e-06, + "acceleration": 5.2100791236853183e-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": 1.2540662282845005e-05, + "observation_loss": 1.2396167221595533e-05, + "chamfer": 8.913263627619017e-06, + "track": 3.4829031392291654e-06, + "acceleration": 1.4449466334554018e-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": 1.2523845725809224e-05, + "observation_loss": 1.2385193258523941e-05, + "chamfer": 8.90641149453586e-06, + "track": 3.478781991361757e-06, + "acceleration": 1.3865272308066778e-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": 1.2390090887492988e-05, + "observation_loss": 1.2369724572636187e-05, + "chamfer": 8.880601853888948e-06, + "track": 3.489122946120915e-06, + "acceleration": 2.0365941821864908e-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": 1.242827329406282e-05, + "observation_loss": 1.2356431398075074e-05, + "chamfer": 8.863859875418711e-06, + "track": 3.492571750030038e-06, + "acceleration": 7.184191730402745e-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": 1.2501789569796529e-05, + "observation_loss": 1.2359618267510086e-05, + "chamfer": 8.859144145390019e-06, + "track": 3.500474349493743e-06, + "acceleration": 1.4217134491900651e-07, + "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": 1.2406536370690446e-05, + "observation_loss": 1.227848042617552e-05, + "chamfer": 8.81396590557415e-06, + "track": 3.4645140658540186e-06, + "acceleration": 1.280558308280888e-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": 1.2167203749413602e-05, + "observation_loss": 1.2126048204663675e-05, + "chamfer": 8.734374205232598e-06, + "track": 3.391674226804753e-06, + "acceleration": 4.115525698011879e-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": 9.078167136541046e-06, + "chamfer_mean": 6.219306034912127e-06, + "track_mean": 1.775190414517643e-06, + "acceleration_mean": 1.083670702210308e-06, + "observation_score": 7.994496444988878e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.429815432000396 + }, + "score_arrays_file": "pass_scores/pass_end_0174.npz", + "score_arrays_sha256": "2a48e1bd41cc83493cdc9d53b890f7c8e5a4e4ef1eb338657b52df59513a538b" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0175.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0175.json new file mode 100644 index 0000000000000000000000000000000000000000..a41ce9d428a68356b71ecb1328405a5616ded7f1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0175.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16800, + "completed_passes": 175, + "snapshot": "pass_end_0175", + "candidate": true, + "snapshot_arrays_sha256": "4a64581aa7aaab6b6405f0d382aaea8948a37e56bdd6027b12db32c1e0910f23", + "score": 7.978205630365665e-06, + "score_result": { + "score": 7.978205630365665e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.945551841548877e-06, + 3.2262651075143367e-06, + 3.5406551432970446e-06, + 4.110814643354388e-06, + 4.811792678083293e-06, + 5.123015853314428e-06, + 5.040620180807309e-06, + 4.9269760893366765e-06, + 4.800335318577709e-06, + 4.822331902687438e-06, + 5.0811331675504334e-06, + 5.360991963243578e-06, + 5.589110060100211e-06, + 5.728578798880335e-06, + 5.7308957366331015e-06, + 5.805366072308971e-06, + 5.664759100909578e-06, + 5.420502930064686e-06, + 5.271058853395516e-06, + 5.189164767216425e-06, + 5.120110472489614e-06, + 4.973973773303442e-06, + 4.806166543858126e-06, + 4.741623797599459e-06, + 4.833040293306112e-06, + 5.053037057223264e-06, + 5.351030267775059e-06, + 5.54443840883323e-06, + 5.5902128224261105e-06, + 5.629196039080853e-06, + 5.590240562014515e-06, + 5.6865928854676895e-06, + 5.886965027457336e-06, + 6.099310212448472e-06, + 6.256743290578015e-06, + 6.497476988442941e-06, + 6.770842446712777e-06, + 6.852540082036285e-06, + 6.679051693936344e-06, + 6.592986665054923e-06, + 6.825942364230286e-06, + 7.16034719516756e-06, + 7.296756848518271e-06, + 7.418447239615489e-06, + 7.4784197749977466e-06, + 7.492023996746866e-06, + 7.5384878073236905e-06, + 7.914166417322122e-06, + 8.535013876098674e-06, + 9.002262231661007e-06, + 8.873292244970798e-06, + 8.580946087022312e-06, + 8.32893329061335e-06, + 8.138293196680024e-06, + 8.104562766675372e-06, + 8.168514796125237e-06, + 8.229973900597543e-06, + 8.270300895674154e-06, + 8.330443961312994e-06, + 8.442990292678587e-06, + 8.593574420956429e-06, + 8.730565241421573e-06, + 9.005525498650968e-06, + 9.372999556944706e-06, + 9.8397667898098e-06, + 1.007676291919779e-05, + 1.023083950713044e-05, + 1.036550929711666e-05, + 1.0422971172374673e-05, + 1.032407544698799e-05, + 1.0131860108231194e-05, + 1.0087852388096508e-05, + 1.0073804332932923e-05, + 9.911578672472388e-06, + 1.0065263268188573e-05, + 1.0166271749767475e-05, + 1.0182227924815379e-05, + 1.0220775038760621e-05, + 1.0501859833311755e-05, + 1.0821097930602264e-05, + 1.1185993571416475e-05, + 1.1411859304644167e-05, + 1.1591580005188007e-05, + 1.1870899470523e-05, + 1.2158207937318366e-05, + 1.229005374625558e-05, + 1.2361666449578479e-05, + 1.2384082765493076e-05, + 1.2412789146765135e-05, + 1.2391081327223219e-05, + 1.2379601685097441e-05, + 1.236496518686181e-05, + 1.2352087651379406e-05, + 1.2355956641840748e-05, + 1.2274477739993017e-05, + 1.2121638064854778e-05 + ] + ], + "episode_mean_losses": [ + 7.978205630365665e-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": 2.945551841548877e-06, + "observation_loss": 2.945551841548877e-06, + "chamfer": 2.498571348041878e-06, + "track": 4.469804366635799e-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": 4.225219163345173e-05, + "observation_loss": 3.2262651075143367e-06, + "chamfer": 2.7292708182358183e-06, + "track": 4.969941755916807e-07, + "acceleration": 3.902592652593739e-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": 2.5067563910852186e-05, + "observation_loss": 3.5406551432970446e-06, + "chamfer": 2.9932627967355074e-06, + "track": 5.473922897181183e-07, + "acceleration": 2.152690831280779e-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": 1.1683898264891468e-05, + "observation_loss": 4.110814643354388e-06, + "chamfer": 3.452789997027139e-06, + "track": 6.580244757969922e-07, + "acceleration": 7.573083166789729e-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": 9.250794391846284e-06, + "observation_loss": 4.811792678083293e-06, + "chamfer": 4.000934950454393e-06, + "track": 8.108578981591563e-07, + "acceleration": 4.439002168510342e-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": 6.711469268338988e-06, + "observation_loss": 5.123015853314428e-06, + "chamfer": 4.2392748582642525e-06, + "track": 8.837409382067563e-07, + "acceleration": 1.5884533013377222e-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": 6.0988440964138135e-06, + "observation_loss": 5.040620180807309e-06, + "chamfer": 4.16421289628488e-06, + "track": 8.76407341365848e-07, + "acceleration": 1.0582238019196666e-06, + "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": 5.512110874406062e-06, + "observation_loss": 4.9269760893366765e-06, + "chamfer": 4.072537194588222e-06, + "track": 8.544387242181983e-07, + "acceleration": 5.851347282259667e-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": 5.607181719824439e-06, + "observation_loss": 4.800335318577709e-06, + "chamfer": 3.977700544055551e-06, + "track": 8.226348313655762e-07, + "acceleration": 8.068465717769868e-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": 5.38686344953021e-06, + "observation_loss": 4.822331902687438e-06, + "chamfer": 4.004849415650824e-06, + "track": 8.174823165063572e-07, + "acceleration": 5.645313763125159e-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": 5.364096068660729e-06, + "observation_loss": 5.0811331675504334e-06, + "chamfer": 4.227194494887954e-06, + "track": 8.539386158190609e-07, + "acceleration": 2.829629011102952e-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": 5.62362856726395e-06, + "observation_loss": 5.360991963243578e-06, + "chamfer": 4.456472197489347e-06, + "track": 9.045195952239737e-07, + "acceleration": 2.626367745506286e-07, + "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": 5.732619229092961e-06, + "observation_loss": 5.589110060100211e-06, + "chamfer": 4.651766175811645e-06, + "track": 9.373438274451473e-07, + "acceleration": 1.4350915478189563e-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": 6.006137937220046e-06, + "observation_loss": 5.728578798880335e-06, + "chamfer": 4.768907729157945e-06, + "track": 9.596708423487144e-07, + "acceleration": 2.775591099180019e-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": 6.021306035108864e-06, + "observation_loss": 5.7308957366331015e-06, + "chamfer": 4.772738520841813e-06, + "track": 9.581572157912888e-07, + "acceleration": 2.9041052584943827e-07, + "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": 5.9912772485404275e-06, + "observation_loss": 5.805366072308971e-06, + "chamfer": 4.832755621464457e-06, + "track": 9.72610564531351e-07, + "acceleration": 1.859111478097475e-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": 5.8929485931003e-06, + "observation_loss": 5.664759100909578e-06, + "chamfer": 4.7159078349068295e-06, + "track": 9.488511523159104e-07, + "acceleration": 2.2818939271473937e-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": 5.776746547780931e-06, + "observation_loss": 5.420502930064686e-06, + "chamfer": 4.515800355875399e-06, + "track": 9.047027447195433e-07, + "acceleration": 3.562438450899208e-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": 5.48140724276891e-06, + "observation_loss": 5.271058853395516e-06, + "chamfer": 4.394654297357192e-06, + "track": 8.764046697251615e-07, + "acceleration": 2.1034841779510316e-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": 5.362266620068112e-06, + "observation_loss": 5.189164767216425e-06, + "chamfer": 4.326209364080569e-06, + "track": 8.629552894490189e-07, + "acceleration": 1.7310168232143042e-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": 5.373847216105787e-06, + "observation_loss": 5.120110472489614e-06, + "chamfer": 4.2702881728473585e-06, + "track": 8.49822527015931e-07, + "acceleration": 2.5373654466420703e-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": 5.276940100884531e-06, + "observation_loss": 4.973973773303442e-06, + "chamfer": 4.153019744990161e-06, + "track": 8.209540851566999e-07, + "acceleration": 3.029661570508324e-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": 4.998754320695298e-06, + "observation_loss": 4.806166543858126e-06, + "chamfer": 4.018895651825005e-06, + "track": 7.872710057199583e-07, + "acceleration": 1.925877910480267e-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": 4.916996658721473e-06, + "observation_loss": 4.741623797599459e-06, + "chamfer": 3.9597439354110975e-06, + "track": 7.818797485015239e-07, + "acceleration": 1.7537283270030457e-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": 5.020091066398891e-06, + "observation_loss": 4.833040293306112e-06, + "chamfer": 4.020964752271539e-06, + "track": 8.120754841911548e-07, + "acceleration": 1.8705075888192368e-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": 5.358452199288877e-06, + "observation_loss": 5.053037057223264e-06, + "chamfer": 4.179724328423617e-06, + "track": 8.733125582693901e-07, + "acceleration": 3.0541519890903146e-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": 5.711493031412829e-06, + "observation_loss": 5.351030267775059e-06, + "chamfer": 4.398657893034397e-06, + "track": 9.523723747406621e-07, + "acceleration": 3.604625362640945e-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": 5.778770628239727e-06, + "observation_loss": 5.54443840883323e-06, + "chamfer": 4.547058324533282e-06, + "track": 9.973799706131103e-07, + "acceleration": 2.3433233309333446e-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": 6.168949767015874e-06, + "observation_loss": 5.5902128224261105e-06, + "chamfer": 4.5890355977462605e-06, + "track": 1.0011771109930123e-06, + "acceleration": 5.787367740595073e-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": 5.865927505510626e-06, + "observation_loss": 5.629196039080853e-06, + "chamfer": 4.624520897777984e-06, + "track": 1.004675027616031e-06, + "acceleration": 2.3673140958635486e-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": 5.689970748790074e-06, + "observation_loss": 5.590240562014515e-06, + "chamfer": 4.598173745762324e-06, + "track": 9.920669299390283e-07, + "acceleration": 9.973019388098692e-08, + "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": 5.862933903699741e-06, + "observation_loss": 5.6865928854676895e-06, + "chamfer": 4.6735835894651245e-06, + "track": 1.0130094096894027e-06, + "acceleration": 1.76340932966923e-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": 5.9964645515719894e-06, + "observation_loss": 5.886965027457336e-06, + "chamfer": 4.8325669013138395e-06, + "track": 1.0543981261434965e-06, + "acceleration": 1.0949955964179026e-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": 6.208542345120804e-06, + "observation_loss": 6.099310212448472e-06, + "chamfer": 4.988396540284157e-06, + "track": 1.1109135584774776e-06, + "acceleration": 1.0923232451887088e-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": 6.372950792865595e-06, + "observation_loss": 6.256743290578015e-06, + "chamfer": 5.112266535434173e-06, + "track": 1.1444767551438417e-06, + "acceleration": 1.1620759465813535e-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": 6.66640926283435e-06, + "observation_loss": 6.497476988442941e-06, + "chamfer": 5.289079581416445e-06, + "track": 1.2083974070264958e-06, + "acceleration": 1.6893213228286186e-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": 6.841537924628938e-06, + "observation_loss": 6.770842446712777e-06, + "chamfer": 5.4920742513786536e-06, + "track": 1.2787680816472857e-06, + "acceleration": 7.069559160299832e-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": 7.209294381027576e-06, + "observation_loss": 6.852540082036285e-06, + "chamfer": 5.566718300542561e-06, + "track": 1.2858216678068857e-06, + "acceleration": 3.5675449794325687e-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": 6.837959062977461e-06, + "observation_loss": 6.679051693936344e-06, + "chamfer": 5.452870937006082e-06, + "track": 1.2261805295565864e-06, + "acceleration": 1.5890728377598862e-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": 6.776278951292625e-06, + "observation_loss": 6.592986665054923e-06, + "chamfer": 5.3892540563538205e-06, + "track": 1.2037327223879402e-06, + "acceleration": 1.8329227202684706e-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": 7.096818990248721e-06, + "observation_loss": 6.825942364230286e-06, + "chamfer": 5.5644809435762e-06, + "track": 1.2614614206540864e-06, + "acceleration": 2.708767397052725e-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": 7.358086804742925e-06, + "observation_loss": 7.16034719516756e-06, + "chamfer": 5.802065516036237e-06, + "track": 1.3582816791313235e-06, + "acceleration": 1.9773978010562132e-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": 7.3827532105497085e-06, + "observation_loss": 7.296756848518271e-06, + "chamfer": 5.881472134205978e-06, + "track": 1.415284941685968e-06, + "acceleration": 8.599646861284782e-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": 7.464997906936333e-06, + "observation_loss": 7.418447239615489e-06, + "chamfer": 5.962465820630314e-06, + "track": 1.4559813052983372e-06, + "acceleration": 4.6550759691399435e-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": 7.551574526587501e-06, + "observation_loss": 7.4784197749977466e-06, + "chamfer": 6.000305802444927e-06, + "track": 1.4781138588659815e-06, + "acceleration": 7.315474448432724e-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": 7.600991466460982e-06, + "observation_loss": 7.492023996746866e-06, + "chamfer": 6.008803666190943e-06, + "track": 1.483220444242761e-06, + "acceleration": 1.0896761892809081e-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": 7.745790753688198e-06, + "observation_loss": 7.5384878073236905e-06, + "chamfer": 6.041517735866364e-06, + "track": 1.4969702988310019e-06, + "acceleration": 2.0730284688852407e-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": 8.05777199275326e-06, + "observation_loss": 7.914166417322122e-06, + "chamfer": 6.304539965640288e-06, + "track": 1.6096266790555092e-06, + "acceleration": 1.4360574596139486e-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": 8.61950138641987e-06, + "observation_loss": 8.535013876098674e-06, + "chamfer": 6.726626452291384e-06, + "track": 1.808387196433614e-06, + "acceleration": 8.448785848713669e-08, + "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": 9.272708666685503e-06, + "observation_loss": 9.002262231661007e-06, + "chamfer": 7.0504879658983555e-06, + "track": 1.9517742657626513e-06, + "acceleration": 2.704466623981716e-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": 9.038581083586905e-06, + "observation_loss": 8.873292244970798e-06, + "chamfer": 6.967507943045348e-06, + "track": 1.9057840745517751e-06, + "acceleration": 1.6528885282696137e-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": 8.787749720795546e-06, + "observation_loss": 8.580946087022312e-06, + "chamfer": 6.7842343014490325e-06, + "track": 1.7967122403206304e-06, + "acceleration": 2.0680325008015643e-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": 8.383029125980102e-06, + "observation_loss": 8.32893329061335e-06, + "chamfer": 6.614089215872809e-06, + "track": 1.714843733680027e-06, + "acceleration": 5.409571457448692e-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": 8.19257547846064e-06, + "observation_loss": 8.138293196680024e-06, + "chamfer": 6.4785645008669235e-06, + "track": 1.65972824106575e-06, + "acceleration": 5.428184124411928e-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": 8.165800863935146e-06, + "observation_loss": 8.104562766675372e-06, + "chamfer": 6.447950454457896e-06, + "track": 1.656612653277989e-06, + "acceleration": 6.123816831404838e-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": 8.23450227471767e-06, + "observation_loss": 8.168514796125237e-06, + "chamfer": 6.490566192951519e-06, + "track": 1.6779486031737179e-06, + "acceleration": 6.598704516136422e-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": 8.268121746368706e-06, + "observation_loss": 8.229973900597543e-06, + "chamfer": 6.53485312795965e-06, + "track": 1.695120545264217e-06, + "acceleration": 3.8147511816077895e-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": 8.445343155472074e-06, + "observation_loss": 8.270300895674154e-06, + "chamfer": 6.5484050537634175e-06, + "track": 1.7218962966580875e-06, + "acceleration": 1.7504183347227809e-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": 8.688460184202995e-06, + "observation_loss": 8.330443961312994e-06, + "chamfer": 6.593318175873719e-06, + "track": 1.737125899126113e-06, + "acceleration": 3.5801627973341965e-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": 9.210692951455712e-06, + "observation_loss": 8.442990292678587e-06, + "chamfer": 6.6574179982126225e-06, + "track": 1.7855727492133155e-06, + "acceleration": 7.677029429942195e-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": 9.695878361526411e-06, + "observation_loss": 8.593574420956429e-06, + "chamfer": 6.768119419575669e-06, + "track": 1.825455115067598e-06, + "acceleration": 1.102303940569982e-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": 9.321310244558845e-06, + "observation_loss": 8.730565241421573e-06, + "chamfer": 6.865499017294496e-06, + "track": 1.8650661104402388e-06, + "acceleration": 5.907447757635964e-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": 9.222218068316579e-06, + "observation_loss": 9.005525498650968e-06, + "chamfer": 7.055934474919923e-06, + "track": 1.9495910237310454e-06, + "acceleration": 2.1669269756330323e-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": 9.528664122626651e-06, + "observation_loss": 9.372999556944706e-06, + "chamfer": 7.290936082426924e-06, + "track": 2.0820634745177813e-06, + "acceleration": 1.5566422462143237e-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": 9.906385457725264e-06, + "observation_loss": 9.8397667898098e-06, + "chamfer": 7.5962966548104305e-06, + "track": 2.2434699076256948e-06, + "acceleration": 6.661889528913889e-08, + "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": 1.0133741852769163e-05, + "observation_loss": 1.007676291919779e-05, + "chamfer": 7.74787986301817e-06, + "track": 2.3288830561796203e-06, + "acceleration": 5.697867777598731e-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": 1.0465179911989253e-05, + "observation_loss": 1.023083950713044e-05, + "chamfer": 7.839836143830325e-06, + "track": 2.3910031359264394e-06, + "acceleration": 2.343401348525731e-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": 1.0511184882489033e-05, + "observation_loss": 1.036550929711666e-05, + "chamfer": 7.898230251157656e-06, + "track": 2.467278818585328e-06, + "acceleration": 1.4567601169801492e-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": 1.0514272617001552e-05, + "observation_loss": 1.0422971172374673e-05, + "chamfer": 7.914617526694201e-06, + "track": 2.508354100427823e-06, + "acceleration": 9.130174305482797e-08, + "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": 1.0586506505205762e-05, + "observation_loss": 1.032407544698799e-05, + "chamfer": 7.847655069781467e-06, + "track": 2.4764206045801984e-06, + "acceleration": 2.624307171572582e-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": 1.0796798960654996e-05, + "observation_loss": 1.0131860108231194e-05, + "chamfer": 7.735256076557562e-06, + "track": 2.3966040316736326e-06, + "acceleration": 6.64939250327734e-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": 1.050594073603861e-05, + "observation_loss": 1.0087852388096508e-05, + "chamfer": 7.70082806411665e-06, + "track": 2.387024096606183e-06, + "acceleration": 4.1808877426774416e-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": 1.1220429769309703e-05, + "observation_loss": 1.0073804332932923e-05, + "chamfer": 7.689109224884305e-06, + "track": 2.3846948806749424e-06, + "acceleration": 1.1466250953162671e-06, + "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": 1.4852753338345792e-05, + "observation_loss": 9.911578672472388e-06, + "chamfer": 7.561099209851818e-06, + "track": 2.3504790078732185e-06, + "acceleration": 4.941174665873405e-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": 1.27923321997514e-05, + "observation_loss": 1.0065263268188573e-05, + "chamfer": 7.681611350562889e-06, + "track": 2.3836521449993597e-06, + "acceleration": 2.7270687041891506e-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": 1.0960032341245096e-05, + "observation_loss": 1.0166271749767475e-05, + "chamfer": 7.751577868475579e-06, + "track": 2.414694336039247e-06, + "acceleration": 7.937604209473648e-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": 1.0731653674156405e-05, + "observation_loss": 1.0182227924815379e-05, + "chamfer": 7.730247489234898e-06, + "track": 2.4519802082068054e-06, + "acceleration": 5.494255219673505e-07, + "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": 1.0526156074774917e-05, + "observation_loss": 1.0220775038760621e-05, + "chamfer": 7.737623491266277e-06, + "track": 2.483151320120669e-06, + "acceleration": 3.053809223274584e-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": 1.0810522326210048e-05, + "observation_loss": 1.0501859833311755e-05, + "chamfer": 7.880791599745862e-06, + "track": 2.6210684609395685e-06, + "acceleration": 3.0866257816342113e-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": 1.1066856131947134e-05, + "observation_loss": 1.0821097930602264e-05, + "chamfer": 8.0408635767526e-06, + "track": 2.7802345812233398e-06, + "acceleration": 2.457581729231606e-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": 1.1480478860903531e-05, + "observation_loss": 1.1185993571416475e-05, + "chamfer": 8.234597771661356e-06, + "track": 2.9513960271287942e-06, + "acceleration": 2.9448500526996213e-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": 1.1664735211525112e-05, + "observation_loss": 1.1411859304644167e-05, + "chamfer": 8.357646038348321e-06, + "track": 3.0542132662958466e-06, + "acceleration": 2.52876105832911e-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": 1.1786937648139428e-05, + "observation_loss": 1.1591580005188007e-05, + "chamfer": 8.473560228594579e-06, + "track": 3.118019776593428e-06, + "acceleration": 1.953579840119346e-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": 1.1972484571742825e-05, + "observation_loss": 1.1870899470523e-05, + "chamfer": 8.64607409312157e-06, + "track": 3.224825832148781e-06, + "acceleration": 1.0158483121358586e-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": 1.2257175512786489e-05, + "observation_loss": 1.2158207937318366e-05, + "chamfer": 8.81953656062251e-06, + "track": 3.338671604069532e-06, + "acceleration": 9.896739072701166e-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": 1.2356181287032086e-05, + "observation_loss": 1.229005374625558e-05, + "chamfer": 8.88451177161187e-06, + "track": 3.405541974643711e-06, + "acceleration": 6.612713576714668e-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": 1.2438581507012714e-05, + "observation_loss": 1.2361666449578479e-05, + "chamfer": 8.93573906068923e-06, + "track": 3.4259273888892494e-06, + "acceleration": 7.691490822026026e-08, + "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": 1.2467447959352285e-05, + "observation_loss": 1.2384082765493076e-05, + "chamfer": 8.92459684109781e-06, + "track": 3.4594856970215915e-06, + "acceleration": 8.336532175690081e-08, + "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": 1.2466560292523354e-05, + "observation_loss": 1.2412789146765135e-05, + "chamfer": 8.92134994501248e-06, + "track": 3.4914389743789798e-06, + "acceleration": 5.377088285740683e-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": 1.2536394024209585e-05, + "observation_loss": 1.2391081327223219e-05, + "chamfer": 8.911399163480382e-06, + "track": 3.479681936369161e-06, + "acceleration": 1.4531256908867363e-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": 1.2518507901404519e-05, + "observation_loss": 1.2379601685097441e-05, + "chamfer": 8.904239621188026e-06, + "track": 3.475362518656766e-06, + "acceleration": 1.3890641525904357e-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": 1.2385814443405252e-05, + "observation_loss": 1.236496518686181e-05, + "chamfer": 8.879018423613161e-06, + "track": 3.4859467632486485e-06, + "acceleration": 2.0849022064339806e-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": 1.2425791283021681e-05, + "observation_loss": 1.2352087651379406e-05, + "chamfer": 8.862820322974585e-06, + "track": 3.4892673284048215e-06, + "acceleration": 7.370361032599249e-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": 1.250063087354647e-05, + "observation_loss": 1.2355956641840748e-05, + "chamfer": 8.858507499098778e-06, + "track": 3.497449370115646e-06, + "acceleration": 1.4467381959093473e-07, + "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": 1.2404998415149748e-05, + "observation_loss": 1.2274477739993017e-05, + "chamfer": 8.81322739587631e-06, + "track": 3.461250116743031e-06, + "acceleration": 1.3052064673502173e-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": 1.21635603136383e-05, + "observation_loss": 1.2121638064854778e-05, + "chamfer": 8.733039067010395e-06, + "track": 3.3885987704707077e-06, + "acceleration": 4.192263958202602e-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": 9.065025186790384e-06, + "chamfer_mean": 6.207356816408567e-06, + "track_mean": 1.7708488115886212e-06, + "acceleration_mean": 1.0868195260786233e-06, + "observation_score": 7.978205630365665e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4311779760009813 + }, + "score_arrays_file": "pass_scores/pass_end_0175.npz", + "score_arrays_sha256": "45aa9d1a46b71b8c6dc7aacf02c01b911da5f9e7d63218ffa14faeb38db0b899" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0176.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0176.json new file mode 100644 index 0000000000000000000000000000000000000000..793480dace490c57abd6deeddbe67ee2e9f0d804 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_scores/pass_end_0176.json @@ -0,0 +1,2167 @@ +{ + "schema_version": "observation_pass_score.v1", + "source_update": 16896, + "completed_passes": 176, + "snapshot": "pass_end_0176", + "candidate": true, + "snapshot_arrays_sha256": "04d3187c86300ec02e3e3d70cbf125ec5d82b7372955fec0debb31cdef463160", + "score": 7.962217985379993e-06, + "score_result": { + "score": 7.962217985379993e-06, + "episode_ids": [ + "deform360_001-rope_episode_0_aligned_92_188" + ], + "episode_transition_losses": [ + [ + 2.9450166039168835e-06, + 3.2248040042759385e-06, + 3.5374375784158474e-06, + 4.101641025044955e-06, + 4.7981052375689615e-06, + 5.105263426230522e-06, + 5.018779120291583e-06, + 4.904669367533643e-06, + 4.780873496201821e-06, + 4.805355274584144e-06, + 5.065330242359778e-06, + 5.348150807549246e-06, + 5.576303010457195e-06, + 5.714334292861167e-06, + 5.713549853680888e-06, + 5.784933819086291e-06, + 5.643290933221579e-06, + 5.401076577982167e-06, + 5.253914878267096e-06, + 5.172572400624631e-06, + 5.102470822748728e-06, + 4.957091732649133e-06, + 4.792598701897077e-06, + 4.728258318209555e-06, + 4.817893568542786e-06, + 5.036674792791018e-06, + 5.335333753464511e-06, + 5.527656412596116e-06, + 5.574444458034122e-06, + 5.619363037112635e-06, + 5.584035534411669e-06, + 5.6800317906891e-06, + 5.8813834584725555e-06, + 6.092012881708797e-06, + 6.2460635490424465e-06, + 6.482804565166589e-06, + 6.7548471633926965e-06, + 6.837753971922211e-06, + 6.662714440608397e-06, + 6.569858669536188e-06, + 6.79689856042387e-06, + 7.130595349735813e-06, + 7.266749435075326e-06, + 7.388026006083237e-06, + 7.447542429872556e-06, + 7.460943379555829e-06, + 7.509054739784915e-06, + 7.88444776844699e-06, + 8.50300148158567e-06, + 8.969705049821641e-06, + 8.841280759952497e-06, + 8.548654477635864e-06, + 8.296831765619572e-06, + 8.107786925393157e-06, + 8.075191544776317e-06, + 8.140247700794134e-06, + 8.202846402127761e-06, + 8.242804142355453e-06, + 8.302669812110253e-06, + 8.41508517623879e-06, + 8.565681127947755e-06, + 8.702001650817692e-06, + 8.975745913630817e-06, + 9.343102647108026e-06, + 9.809159564611036e-06, + 1.0047273462987505e-05, + 1.020239415083779e-05, + 1.0339015716454014e-05, + 1.0396957804914564e-05, + 1.029970280796988e-05, + 1.0110136827279348e-05, + 1.006721595331328e-05, + 1.0055678103526589e-05, + 9.897994459606707e-06, + 1.0057419785880484e-05, + 1.0160470992559567e-05, + 1.0179142918786965e-05, + 1.021781463350635e-05, + 1.0498242772882804e-05, + 1.0818242117238697e-05, + 1.1183205060660839e-05, + 1.1414227628847584e-05, + 1.15928587547387e-05, + 1.186947883979883e-05, + 1.2157426681369543e-05, + 1.2290660379221663e-05, + 1.236074331245618e-05, + 1.2383290595607832e-05, + 1.241303743881872e-05, + 1.2392336429911666e-05, + 1.2380107364151627e-05, + 1.2366650480544195e-05, + 1.2354544196568895e-05, + 1.2359048923826776e-05, + 1.227808570547495e-05, + 1.2124774912081193e-05 + ] + ], + "episode_mean_losses": [ + 7.962217985379993e-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": 2.9450166039168835e-06, + "observation_loss": 2.9450166039168835e-06, + "chamfer": 2.498129106243141e-06, + "track": 4.468875260954519e-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": 4.222453571856022e-05, + "observation_loss": 3.2248040042759385e-06, + "chamfer": 2.7280334506940562e-06, + "track": 4.967706104253011e-07, + "acceleration": 3.899973307852633e-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": 2.504647090972867e-05, + "observation_loss": 3.5374375784158474e-06, + "chamfer": 2.990621169374208e-06, + "track": 5.468163521982206e-07, + "acceleration": 2.1509033103939146e-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": 1.1660518794087693e-05, + "observation_loss": 4.101641025044955e-06, + "chamfer": 3.445544962232816e-06, + "track": 6.560962901858147e-07, + "acceleration": 7.558878223790089e-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": 9.228265298588667e-06, + "observation_loss": 4.7981052375689615e-06, + "chamfer": 3.99066311729257e-06, + "track": 8.074421202763915e-07, + "acceleration": 4.430160061019706e-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": 6.695502634102013e-06, + "observation_loss": 5.105263426230522e-06, + "chamfer": 4.226273176755058e-06, + "track": 8.789903063188831e-07, + "acceleration": 1.5902389804978156e-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": 6.083010248403298e-06, + "observation_loss": 5.018779120291583e-06, + "chamfer": 4.148415882809786e-06, + "track": 8.703634080120537e-07, + "acceleration": 1.0642310144248768e-06, + "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": 5.483736003952799e-06, + "observation_loss": 4.904669367533643e-06, + "chamfer": 4.056586931255879e-06, + "track": 8.480826636514394e-07, + "acceleration": 5.790667501059943e-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": 5.581179721048102e-06, + "observation_loss": 4.780873496201821e-06, + "chamfer": 3.964180905313697e-06, + "track": 8.16692590888124e-07, + "acceleration": 8.003062816897e-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": 5.367025096347788e-06, + "observation_loss": 4.805355274584144e-06, + "chamfer": 3.993166046711849e-06, + "track": 8.12189341559133e-07, + "acceleration": 5.616696512333874e-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": 5.3421872507897206e-06, + "observation_loss": 5.065330242359778e-06, + "chamfer": 4.2161041164945345e-06, + "track": 8.492261258652434e-07, + "acceleration": 2.768568663213955e-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": 5.6036906244116835e-06, + "observation_loss": 5.348150807549246e-06, + "chamfer": 4.447510946192779e-06, + "track": 9.006396339827916e-07, + "acceleration": 2.555399305492756e-07, + "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": 5.715994120691903e-06, + "observation_loss": 5.576303010457195e-06, + "chamfer": 4.6425948312389664e-06, + "track": 9.3370812237481e-07, + "acceleration": 1.39690939704451e-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": 5.980637070024386e-06, + "observation_loss": 5.714334292861167e-06, + "chamfer": 4.758555860462366e-06, + "track": 9.557784323988017e-07, + "acceleration": 2.66302663476381e-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": 5.992931164655602e-06, + "observation_loss": 5.713549853680888e-06, + "chamfer": 4.7594498937542085e-06, + "track": 9.54099846239842e-07, + "acceleration": 2.79381282553004e-07, + "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": 5.97060488871648e-06, + "observation_loss": 5.784933819086291e-06, + "chamfer": 4.816904038307257e-06, + "track": 9.680298944658716e-07, + "acceleration": 1.8567088488907757e-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": 5.868701009603683e-06, + "observation_loss": 5.643290933221579e-06, + "chamfer": 4.699163582699839e-06, + "track": 9.44127179991483e-07, + "acceleration": 2.2541019006894203e-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": 5.755064194090664e-06, + "observation_loss": 5.401076577982167e-06, + "chamfer": 4.500557224673685e-06, + "track": 9.005192396216444e-07, + "acceleration": 3.539877013736259e-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": 5.4656316024193075e-06, + "observation_loss": 5.253914878267096e-06, + "chamfer": 4.380995960673317e-06, + "track": 8.729190312806168e-07, + "acceleration": 2.117168094173394e-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": 5.346975285647204e-06, + "observation_loss": 5.172572400624631e-06, + "chamfer": 4.3129170990141574e-06, + "track": 8.596553584538924e-07, + "acceleration": 1.744028281791543e-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": 5.358670023269951e-06, + "observation_loss": 5.102470822748728e-06, + "chamfer": 4.256056399754016e-06, + "track": 8.464141956210369e-07, + "acceleration": 2.561990584126761e-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": 5.263336333882762e-06, + "observation_loss": 4.957091732649133e-06, + "chamfer": 4.139277734793723e-06, + "track": 8.178137704817345e-07, + "acceleration": 3.062447717638861e-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": 4.9843147280626e-06, + "observation_loss": 4.792598701897077e-06, + "chamfer": 4.007772986369673e-06, + "track": 7.848256018405664e-07, + "acceleration": 1.9171606879808678e-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": 4.905945843347581e-06, + "observation_loss": 4.728258318209555e-06, + "chamfer": 3.948783160012681e-06, + "track": 7.794752718837117e-07, + "acceleration": 1.7768735460776952e-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": 5.007238087273436e-06, + "observation_loss": 4.817893568542786e-06, + "chamfer": 4.008753876405535e-06, + "track": 8.091398626675073e-07, + "acceleration": 1.8934446188723086e-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": 5.342282747733407e-06, + "observation_loss": 5.036674792791018e-06, + "chamfer": 4.166510734648909e-06, + "track": 8.701640581421088e-07, + "acceleration": 3.0560812547264504e-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": 5.691894330084324e-06, + "observation_loss": 5.335333753464511e-06, + "chamfer": 4.386073214845965e-06, + "track": 9.492607091488026e-07, + "acceleration": 3.5656051977639436e-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": 5.7596175793150906e-06, + "observation_loss": 5.527656412596116e-06, + "chamfer": 4.533513219939778e-06, + "track": 9.94143306343176e-07, + "acceleration": 2.3196103882128227e-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": 6.161046258057468e-06, + "observation_loss": 5.574444458034122e-06, + "chamfer": 4.576192168315174e-06, + "track": 9.982521760321106e-07, + "acceleration": 5.866015726496698e-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": 5.859721113665728e-06, + "observation_loss": 5.619363037112635e-06, + "chamfer": 4.616297246684553e-06, + "track": 1.003066017801757e-06, + "acceleration": 2.403581049748027e-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": 5.686689746653428e-06, + "observation_loss": 5.584035534411669e-06, + "chamfer": 4.592961431626463e-06, + "track": 9.91074330158881e-07, + "acceleration": 1.0265415539834066e-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": 5.866614628757816e-06, + "observation_loss": 5.6800317906891e-06, + "chamfer": 4.668157089326996e-06, + "track": 1.0118744739884278e-06, + "acceleration": 1.865828949121351e-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": 5.990569661662448e-06, + "observation_loss": 5.8813834584725555e-06, + "chamfer": 4.827912107430166e-06, + "track": 1.0534714647292276e-06, + "acceleration": 1.0918643056356814e-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": 6.2011881709622685e-06, + "observation_loss": 6.092012881708797e-06, + "chamfer": 4.982477094017668e-06, + "track": 1.1095357876911294e-06, + "acceleration": 1.0917535320231764e-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": 6.362931799230864e-06, + "observation_loss": 6.2460635490424465e-06, + "chamfer": 5.103761850477895e-06, + "track": 1.142301584877714e-06, + "acceleration": 1.1686820755585359e-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": 6.650398063356988e-06, + "observation_loss": 6.482804565166589e-06, + "chamfer": 5.2773175411857665e-06, + "track": 1.205486796607147e-06, + "acceleration": 1.6759345555783511e-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": 6.826052413089201e-06, + "observation_loss": 6.7548471633926965e-06, + "chamfer": 5.47912441106746e-06, + "track": 1.2757229796989122e-06, + "acceleration": 7.120524259107697e-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": 7.195942544058198e-06, + "observation_loss": 6.837753971922211e-06, + "chamfer": 5.554632480198052e-06, + "track": 1.2831214917241596e-06, + "acceleration": 3.581884016057302e-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": 6.822372597525828e-06, + "observation_loss": 6.662714440608397e-06, + "chamfer": 5.439605502033373e-06, + "track": 1.223108824888186e-06, + "acceleration": 1.5965817112828518e-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": 6.753377874701982e-06, + "observation_loss": 6.569858669536188e-06, + "chamfer": 5.370674898586003e-06, + "track": 1.1991838846370229e-06, + "acceleration": 1.835193756960507e-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": 7.067782462399919e-06, + "observation_loss": 6.79689856042387e-06, + "chamfer": 5.541519840335241e-06, + "track": 1.255378720088629e-06, + "acceleration": 2.7088398724117724e-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": 7.328554602281656e-06, + "observation_loss": 7.130595349735813e-06, + "chamfer": 5.778826562163886e-06, + "track": 1.3517689012587653e-06, + "acceleration": 1.979590535938769e-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": 7.352131888183067e-06, + "observation_loss": 7.266749435075326e-06, + "chamfer": 5.857943961018464e-06, + "track": 1.4088053603700246e-06, + "acceleration": 8.538232521004829e-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": 7.434751751134172e-06, + "observation_loss": 7.388026006083237e-06, + "chamfer": 5.938720278209075e-06, + "track": 1.4493058415609994e-06, + "acceleration": 4.672578768349922e-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": 7.52063033360173e-06, + "observation_loss": 7.447542429872556e-06, + "chamfer": 5.976218290015822e-06, + "track": 1.471324253543571e-06, + "acceleration": 7.308769056635356e-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": 7.569880381197436e-06, + "observation_loss": 7.460943379555829e-06, + "chamfer": 5.9844765019079205e-06, + "track": 1.476466650274233e-06, + "acceleration": 1.0893710111758992e-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": 7.7160384535091e-06, + "observation_loss": 7.509054739784915e-06, + "chamfer": 6.0186498558323365e-06, + "track": 1.490405111326254e-06, + "acceleration": 2.0698347213965462e-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": 8.028204319998622e-06, + "observation_loss": 7.88444776844699e-06, + "chamfer": 6.281720743572805e-06, + "track": 1.602727138561022e-06, + "acceleration": 1.437564662865043e-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": 8.58801377034979e-06, + "observation_loss": 8.50300148158567e-06, + "chamfer": 6.702502560074208e-06, + "track": 1.8004986941377865e-06, + "acceleration": 8.501207560129842e-08, + "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": 9.239593055099249e-06, + "observation_loss": 8.969705049821641e-06, + "chamfer": 7.026557341305306e-06, + "track": 1.943147708516335e-06, + "acceleration": 2.6988814738615474e-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": 9.007178960018791e-06, + "observation_loss": 8.841280759952497e-06, + "chamfer": 6.943937933101552e-06, + "track": 1.8973428268509451e-06, + "acceleration": 1.6589811480116623e-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": 8.756323950365186e-06, + "observation_loss": 8.548654477635864e-06, + "chamfer": 6.759884399798466e-06, + "track": 1.7887703052110737e-06, + "acceleration": 2.0766965747043287e-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": 8.351370524906088e-06, + "observation_loss": 8.296831765619572e-06, + "chamfer": 6.589398253709078e-06, + "track": 1.7074337392841699e-06, + "acceleration": 5.45383933570065e-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": 8.162153790181037e-06, + "observation_loss": 8.107786925393157e-06, + "chamfer": 6.454891718021827e-06, + "track": 1.6528948663108167e-06, + "acceleration": 5.436665873048696e-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": 8.136650649248622e-06, + "observation_loss": 8.075191544776317e-06, + "chamfer": 6.425084393413272e-06, + "track": 1.650107151363045e-06, + "acceleration": 6.145936737311786e-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": 8.206068741856143e-06, + "observation_loss": 8.140247700794134e-06, + "chamfer": 6.46866692477488e-06, + "track": 1.6715805486455793e-06, + "acceleration": 6.582075684491429e-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": 8.240580427809618e-06, + "observation_loss": 8.202846402127761e-06, + "chamfer": 6.5140116021211725e-06, + "track": 1.6888344589460758e-06, + "acceleration": 3.773415002683578e-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": 8.417871868005022e-06, + "observation_loss": 8.242804142355453e-06, + "chamfer": 6.527360710606445e-06, + "track": 1.7154433180621709e-06, + "acceleration": 1.750673561673466e-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": 8.661686479172204e-06, + "observation_loss": 8.302669812110253e-06, + "chamfer": 6.572343863808783e-06, + "track": 1.7303258346146322e-06, + "acceleration": 3.5901669548366044e-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": 9.185766430164222e-06, + "observation_loss": 8.41508517623879e-06, + "chamfer": 6.6366542341711465e-06, + "track": 1.7784304873202927e-06, + "acceleration": 7.706810265517561e-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": 9.672872693045065e-06, + "observation_loss": 8.565681127947755e-06, + "chamfer": 6.747749466740061e-06, + "track": 1.8179316612076946e-06, + "acceleration": 1.1071911103499588e-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": 9.296049938711803e-06, + "observation_loss": 8.702001650817692e-06, + "chamfer": 6.844721610832494e-06, + "track": 1.8572799262983608e-06, + "acceleration": 5.940481173638545e-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": 9.194043741445057e-06, + "observation_loss": 8.975745913630817e-06, + "chamfer": 7.034436293906765e-06, + "track": 1.9413098470977275e-06, + "acceleration": 2.1829775675996643e-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": 9.499948646407574e-06, + "observation_loss": 9.343102647108026e-06, + "chamfer": 7.269565230672015e-06, + "track": 2.0735371890623355e-06, + "acceleration": 1.5684614140809572e-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": 9.876251169771422e-06, + "observation_loss": 9.809159564611036e-06, + "chamfer": 7.574354185635457e-06, + "track": 2.234805151601904e-06, + "acceleration": 6.709191069376175e-08, + "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": 1.0104339708050247e-05, + "observation_loss": 1.0047273462987505e-05, + "chamfer": 7.726921467110515e-06, + "track": 2.3203515411296394e-06, + "acceleration": 5.7066564806973474e-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": 1.0437008313601837e-05, + "observation_loss": 1.020239415083779e-05, + "chamfer": 7.819750862836372e-06, + "track": 2.382643288001418e-06, + "acceleration": 2.346142053966105e-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": 1.048460489982972e-05, + "observation_loss": 1.0339015716454014e-05, + "chamfer": 7.87962562753819e-06, + "track": 2.4593905436631758e-06, + "acceleration": 1.4558892758032016e-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": 1.0488019142940175e-05, + "observation_loss": 1.0396957804914564e-05, + "chamfer": 7.896012903074734e-06, + "track": 2.5009446744661545e-06, + "acceleration": 9.106119591706374e-08, + "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": 1.0562016541371122e-05, + "observation_loss": 1.029970280796988e-05, + "chamfer": 7.830352842574939e-06, + "track": 2.4693499653949402e-06, + "acceleration": 2.623138755097898e-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": 1.0775781447591726e-05, + "observation_loss": 1.0110136827279348e-05, + "chamfer": 7.720150279055815e-06, + "track": 2.389986775597208e-06, + "acceleration": 6.656444497821212e-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": 1.0486083738214802e-05, + "observation_loss": 1.006721595331328e-05, + "chamfer": 7.686322533118073e-06, + "track": 2.3808931928215316e-06, + "acceleration": 4.18868040696907e-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": 1.12207872007275e-05, + "observation_loss": 1.0055678103526589e-05, + "chamfer": 7.67622532293899e-06, + "track": 2.3794527805875987e-06, + "acceleration": 1.1651094382614247e-06, + "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": 1.491799957875628e-05, + "observation_loss": 9.897994459606707e-06, + "chamfer": 7.551515864179237e-06, + "track": 2.346478368053795e-06, + "acceleration": 5.020004664402222e-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": 1.2856695320806466e-05, + "observation_loss": 1.0057419785880484e-05, + "chamfer": 7.676075256313197e-06, + "track": 2.381344302193611e-06, + "acceleration": 2.7992759896733332e-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": 1.0973670214298181e-05, + "observation_loss": 1.0160470992559567e-05, + "chamfer": 7.747681593173184e-06, + "track": 2.4127889446390327e-06, + "acceleration": 8.131995059557084e-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": 1.075720319931861e-05, + "observation_loss": 1.0179142918786965e-05, + "chamfer": 7.728570381004829e-06, + "track": 2.4505725377821364e-06, + "acceleration": 5.780605647487391e-07, + "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": 1.052783500199439e-05, + "observation_loss": 1.021781463350635e-05, + "chamfer": 7.736446605122183e-06, + "track": 2.4813680283841677e-06, + "acceleration": 3.1002039690974925e-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": 1.0807569196913391e-05, + "observation_loss": 1.0498242772882804e-05, + "chamfer": 7.879489203332923e-06, + "track": 2.6187537969235564e-06, + "acceleration": 3.0932619665691163e-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": 1.1069463653257117e-05, + "observation_loss": 1.0818242117238697e-05, + "chamfer": 8.040430657274555e-06, + "track": 2.7778116873378167e-06, + "acceleration": 2.512217065486766e-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": 1.1495676517370157e-05, + "observation_loss": 1.1183205060660839e-05, + "chamfer": 8.233556400227826e-06, + "track": 2.9496488878066884e-06, + "acceleration": 3.124713146007707e-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": 1.167408572655404e-05, + "observation_loss": 1.1414227628847584e-05, + "chamfer": 8.360099855053704e-06, + "track": 3.0541275464202045e-06, + "acceleration": 2.598583250801312e-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": 1.178513775812462e-05, + "observation_loss": 1.15928587547387e-05, + "chamfer": 8.475707545585465e-06, + "track": 3.117151209153235e-06, + "acceleration": 1.922792023378861e-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": 1.1968351827817969e-05, + "observation_loss": 1.186947883979883e-05, + "chamfer": 8.646426977065857e-06, + "track": 3.223052317480324e-06, + "acceleration": 9.887288143772821e-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": 1.2257251000846736e-05, + "observation_loss": 1.2157426681369543e-05, + "chamfer": 8.82028052728856e-06, + "track": 3.337146608828334e-06, + "acceleration": 9.982408499809026e-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": 1.2357257219264284e-05, + "observation_loss": 1.2290660379221663e-05, + "chamfer": 8.886288014764432e-06, + "track": 3.40437190970988e-06, + "acceleration": 6.659728057911707e-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": 1.2438438716344535e-05, + "observation_loss": 1.236074331245618e-05, + "chamfer": 8.936171070672572e-06, + "track": 3.4245720144099323e-06, + "acceleration": 7.769516940925314e-08, + "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": 1.2466910447983537e-05, + "observation_loss": 1.2383290595607832e-05, + "chamfer": 8.925114343583118e-06, + "track": 3.4581764793983893e-06, + "acceleration": 8.362014369822646e-08, + "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": 1.2467644410207868e-05, + "observation_loss": 1.241303743881872e-05, + "chamfer": 8.922747838369105e-06, + "track": 3.4902898278232897e-06, + "acceleration": 5.460730179152051e-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": 1.2539678209577687e-05, + "observation_loss": 1.2392336429911666e-05, + "chamfer": 8.913550118450075e-06, + "track": 3.4787865388352657e-06, + "acceleration": 1.4734146702721773e-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": 1.2519049050752074e-05, + "observation_loss": 1.2380107364151627e-05, + "chamfer": 8.905777576728724e-06, + "track": 3.4743300147965783e-06, + "acceleration": 1.3894133132907882e-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": 1.238695222127717e-05, + "observation_loss": 1.2366650480544195e-05, + "chamfer": 8.8813985712477e-06, + "track": 3.4852521366701694e-06, + "acceleration": 2.030213686055049e-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": 1.2430634342308622e-05, + "observation_loss": 1.2354544196568895e-05, + "chamfer": 8.86594170879107e-06, + "track": 3.4886024877778254e-06, + "acceleration": 7.609025942656444e-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": 1.2506524399213959e-05, + "observation_loss": 1.2359048923826776e-05, + "chamfer": 8.86211455508601e-06, + "track": 3.496934141367092e-06, + "acceleration": 1.4747516274837835e-07, + "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": 1.2409963346726727e-05, + "observation_loss": 1.227808570547495e-05, + "chamfer": 8.817278285278007e-06, + "track": 3.4608071928232675e-06, + "acceleration": 1.3187724334784434e-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": 1.2166993656137493e-05, + "observation_loss": 1.2124774912081193e-05, + "chamfer": 8.736486961424816e-06, + "track": 3.3882877232827013e-06, + "acceleration": 4.221892169198327e-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": 9.051019873140831e-06, + "chamfer_mean": 6.195488874520076e-06, + "track_mean": 1.766729102274193e-06, + "acceleration_mean": 1.0888018882974453e-06, + "observation_score": 7.962217985379993e-06, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + } + ], + "first_failure": null + }, + "wall_time_s": 1.4316747430002579 + }, + "score_arrays_file": "pass_scores/pass_end_0176.npz", + "score_arrays_sha256": "ed369ed1980533562ffb813b93f562420cec0eba39923c3adf2a86dcc0c0a961" +}