add e0_mlp_robot_only_20k_seed20260910 (20k ablation ckpts)

e0_mlp_robot_only_20k_seed20260910/README.md

@@ -0,0 +1,14 @@
+# DexFlow ablation 20k — E0 robot-only
+
+`mlp_bottleneck`, no Stage-1 transfer. Seed `20260910`. Step **20000** (not 30k).
+
+Hub path: `e0_mlp_robot_only_20k_seed20260910/{task}/`
+
+| task | nRMSE @20k |
+|---|---:|
+| plastic | 0.0547 |
+| pill | 0.0759 |
+| open | 0.0582 |
+| realsense | 0.0684 |
+
+Each folder: `stage2_step20000.ckpt`, `norm_stats.json`, `gate_step20000.json`.

e0_mlp_robot_only_20k_seed20260910/open/gate_step20000.json

@@ -0,0 +1,40 @@
+{
+  "gate": "g1",
+  "passed": true,
+  "finite": true,
+  "criteria": {
+    "rmse_norm_41_lt": 1.0,
+    "J2_hand_lt": 250.0,
+    "chunk_overlap_lt": 250.0
+  },
+  "metrics": {
+    "n_queries": 4513,
+    "n_valid_actions": 131040,
+    "rmse_norm_41": 0.05815806132447044,
+    "body_rmse_raw": 0.00938320116294521,
+    "hand_mae_raw": 3.252933979034424,
+    "right_hand_mae": 3.7682838439941406,
+    "J1_hand": 3.2423179149627686,
+    "J2_hand": 3.6573643684387207,
+    "chunk_overlap": 0.6786661744117737,
+    "chunk0": {
+      "n_frames": 4513,
+      "body_rmse_rad": 0.011596697382628918,
+      "body_mae_rad": 0.004521640483289957,
+      "hand_rmse_raw": 5.574464797973633,
+      "hand_mae_raw": 3.6916611194610596,
+      "hand_left_mae_raw": 3.068002700805664,
+      "hand_right_mae_raw": 4.315319061279297,
+      "action_mse_raw": 9.09511661529541,
+      "gt_hand_jitter": {
+        "J1": 2.7967827320098877,
+        "J2": 2.860470771789551
+      },
+      "pred_hand_jitter": {
+        "J1": 3.2423179149627686,
+        "J2": 3.6573643684387207
+      },
+      "hand_J2_ratio": 1.2785882675356344
+    }
+  }
+}

e0_mlp_robot_only_20k_seed20260910/open/norm_stats.json

@@ -0,0 +1,351 @@
+{
+  "mode": "mean_std",
+  "action": {
+    "mean": [
+      0.2179521769285202,
+      0.0022657860536128283,
+      -0.049915481358766556,
+      -0.08726406842470169,
+      -0.0879974365234375,
+      -0.03180677816271782,
+      0.22925597429275513,
+      -0.0003040289448108524,
+      -0.013049634173512459,
+      -0.0794934406876564,
+      -0.09097777307033539,
+      0.08021491020917892,
+      0.039486538618803024,
+      -0.006030355580151081,
+      0.025610052049160004,
+      -0.4274296760559082,
+      0.6139280796051025,
+      -0.3047207295894623,
+      0.3429950475692749,
+      -0.18548469245433807,
+      -0.1973467320203781,
+      -0.04375094920396805,
+      -0.48427531123161316,
+      -0.6121152639389038,
+      0.32164642214775085,
+      0.4741268754005432,
+      -0.034390341490507126,
+      -0.19891175627708435,
+      -0.03811624273657799,
+      747.1218872070312,
+      805.6678466796875,
+      858.7976684570312,
+      929.7788696289062,
+      625.0602416992188,
+      901.160888671875,
+      868.021484375,
+      870.2836303710938,
+      874.232421875,
+      834.7203369140625,
+      811.4801635742188,
+      716.7910766601562
+    ],
+    "std": [
+      0.01637190580368042,
+      0.009999999776482582,
+      0.01812758669257164,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.012891968712210655,
+      0.014012799598276615,
+      0.010881094262003899,
+      0.0235325675457716,
+      0.010017180815339088,
+      0.011592761613428593,
+      0.014437887817621231,
+      0.02609240449965,
+      0.009999999776482582,
+      0.032911527901887894,
+      0.31246188282966614,
+      0.132341206073761,
+      0.15039390325546265,
+      0.20329450070858002,
+      0.48085203766822815,
+      0.16675665974617004,
+      0.1971658170223236,
+      0.3175870180130005,
+      0.13727876543998718,
+      0.1348123848438263,
+      0.271430104970932,
+      0.5033843517303467,
+      0.18132659792900085,
+      0.1945764124393463,
+      65.39507293701172,
+      61.28709411621094,
+      54.039669036865234,
+      62.08110809326172,
+      98.78357696533203,
+      116.31564331054688,
+      109.93495178222656,
+      101.13060760498047,
+      92.26375579833984,
+      140.8939971923828,
+      147.72607421875,
+      174.97657775878906
+    ],
+    "min": [
+      0.1817198246717453,
+      -0.014587901532649994,
+      -0.11218123137950897,
+      -0.08726699650287628,
+      -0.11192823946475983,
+      -0.07560325413942337,
+      0.19475461542606354,
+      -0.039708662778139114,
+      -0.09401167929172516,
+      -0.08726699650287628,
+      -0.12629307806491852,
+      0.04645576328039169,
+      -0.014491120353341103,
+      -0.03894063085317612,
+      -0.0599542111158371,
+      -1.1209309101104736,
+      0.26476842164993286,
+      -0.6103591918945312,
+      -0.07575497776269913,
+      -1.2185311317443848,
+      -0.5668028593063354,
+      -0.438039094209671,
+      -1.1131043434143066,
+      -0.8692588210105896,
+      -0.04066827893257141,
+      -0.18582937121391296,
+      -0.6697806715965271,
+      -0.5071786046028137,
+      -0.4907456338405609,
+      474.0,
+      596.0,
+      753.0,
+      525.0,
+      297.0,
+      499.0,
+      572.0,
+      491.0,
+      494.0,
+      294.0,
+      300.0,
+      128.0
+    ],
+    "max": [
+      0.2599504888057709,
+      0.02351275272667408,
+      0.002105114283040166,
+      -0.08503582328557968,
+      -0.06524814665317535,
+      -0.00538595812395215,
+      0.2673281133174896,
+      0.021731432527303696,
+      0.0375763364136219,
+      -0.036772020161151886,
+      -0.06835515797138214,
+      0.11026217043399811,
+      0.13977138698101044,
+      0.024172361940145493,
+      0.10656565427780151,
+      0.1658814698457718,
+      0.8715833425521851,
+      0.11738207191228867,
+      1.084445595741272,
+      0.6661459803581238,
+      0.26836419105529785,
+      0.44474852085113525,
+      0.12304998934268951,
+      -0.3063247501850128,
+      0.6092099547386169,
+      1.2141414880752563,
+      0.912161111831665,
+      0.36191487312316895,
+      0.5198376774787903,
+      944.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      993.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      970.0,
+      1000.0,
+      1000.0
+    ]
+  },
+  "state": {
+    "mean": [
+      0.31514647603034973,
+      -0.0016248273896053433,
+      -0.017313776537775993,
+      0.12198133021593094,
+      -0.1253536492586136,
+      -0.021842457354068756,
+      0.4242088794708252,
+      -0.07901181280612946,
+      -0.011237859725952148,
+      0.11876795440912247,
+      -0.20911096036434174,
+      0.05777796357870102,
+      0.019415192306041718,
+      0.0,
+      0.0,
+      -0.1914035677909851,
+      0.5920588970184326,
+      -0.2894422709941864,
+      0.5480021238327026,
+      -0.18934157490730286,
+      -0.13539095222949982,
+      -0.060180507600307465,
+      -0.35594671964645386,
+      -0.6035926342010498,
+      0.42826762795448303,
+      0.5262371897697449,
+      -0.06129152700304985,
+      -0.1426571160554886,
+      -0.03792303800582886,
+      1000.0,
+      805.7852783203125,
+      858.7693481445312,
+      929.0111083984375,
+      625.4112548828125,
+      884.9315185546875,
+      867.5291137695312,
+      870.0977172851562,
+      873.779052734375,
+      838.4067993164062,
+      813.1807861328125,
+      700.7245483398438
+    ],
+    "std": [
+      0.014612441882491112,
+      0.013092241249978542,
+      0.022868944332003593,
+      0.012643057852983475,
+      0.010932241566479206,
+      0.009999999776482582,
+      0.02154114656150341,
+      0.009999999776482582,
+      0.029303524643182755,
+      0.010719790123403072,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.035373277962207794,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.30321571230888367,
+      0.1364845186471939,
+      0.0776282325387001,
+      0.24319003522396088,
+      0.4762353003025055,
+      0.1744953989982605,
+      0.18290771543979645,
+      0.3224605619907379,
+      0.13542000949382782,
+      0.15443120896816254,
+      0.27792900800704956,
+      0.5291680693626404,
+      0.21528089046478271,
+      0.18708746135234833,
+      0.009999999776482582,
+      61.2995491027832,
+      53.96879577636719,
+      61.87968063354492,
+      99.33448791503906,
+      116.70374298095703,
+      109.75019073486328,
+      100.84813690185547,
+      92.17374420166016,
+      125.02979278564453,
+      145.01522827148438,
+      175.51156616210938
+    ],
+    "min": [
+      0.2847750186920166,
+      -0.034395258873701096,
+      -0.08569473773241043,
+      0.10369709879159927,
+      -0.15328533947467804,
+      -0.035871926695108414,
+      0.370712012052536,
+      -0.10366301238536835,
+      -0.08490461856126785,
+      0.09135707467794418,
+      -0.23695535957813263,
+      0.04746422544121742,
+      -0.03893024101853371,
+      0.0,
+      0.0,
+      -0.962944507598877,
+      0.19184347987174988,
+      -0.4178300201892853,
+      0.16996027529239655,
+      -1.1363801956176758,
+      -0.4223969578742981,
+      -0.5039433836936951,
+      -0.9952899217605591,
+      -0.8350248336791992,
+      0.11399395018815994,
+      -0.05843508243560791,
+      -0.7091785073280334,
+      -0.5445248484611511,
+      -0.5184548497200012,
+      1000.0,
+      596.0,
+      754.0,
+      529.0,
+      294.0,
+      494.0,
+      573.0,
+      495.0,
+      495.0,
+      293.0,
+      297.0,
+      114.0
+    ],
+    "max": [
+      0.3544944226741791,
+      0.022651782259345055,
+      0.024828573688864708,
+      0.15883518755435944,
+      -0.0965707078576088,
+      -0.008705876767635345,
+      0.4755084812641144,
+      -0.06425675004720688,
+      0.03447074070572853,
+      0.1577017456293106,
+      -0.18798339366912842,
+      0.06810750812292099,
+      0.14248977601528168,
+      0.0,
+      0.0,
+      0.3000011146068573,
+      0.8881868720054626,
+      -0.13049623370170593,
+      1.3541815280914307,
+      0.6469324231147766,
+      0.2718827724456787,
+      0.2973468601703644,
+      0.18383800983428955,
+      -0.26094451546669006,
+      0.7500207424163818,
+      1.3691498041152954,
+      0.9067144989967346,
+      0.4022558033466339,
+      0.5509905815124512,
+      1000.0,
+      999.0,
+      1000.0,
+      999.0,
+      992.0,
+      990.0,
+      1000.0,
+      999.0,
+      1000.0,
+      969.0,
+      1000.0,
+      985.0
+    ]
+  }
+}

e0_mlp_robot_only_20k_seed20260910/open/stage2_step20000.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f6efbfff93cdb3ea25912f31c840a03c3b16f1d201b49e0190f168bb4433c2
+size 278185329

e0_mlp_robot_only_20k_seed20260910/pill/gate_step20000.json

@@ -0,0 +1,40 @@
+{
+  "gate": "g1",
+  "passed": true,
+  "finite": true,
+  "criteria": {
+    "rmse_norm_41_lt": 1.0,
+    "J2_hand_lt": 250.0,
+    "chunk_overlap_lt": 250.0
+  },
+  "metrics": {
+    "n_queries": 5745,
+    "n_valid_actions": 168000,
+    "rmse_norm_41": 0.07589455091014884,
+    "body_rmse_raw": 0.006541047396850366,
+    "hand_mae_raw": 4.9628987312316895,
+    "right_hand_mae": 7.1151556968688965,
+    "J1_hand": 3.6807589530944824,
+    "J2_hand": 4.606006622314453,
+    "chunk_overlap": 0.8575053215026855,
+    "chunk0": {
+      "n_frames": 5745,
+      "body_rmse_rad": 0.006998755037784576,
+      "body_mae_rad": 0.0037139595951884985,
+      "hand_rmse_raw": 8.059638023376465,
+      "hand_mae_raw": 5.330930233001709,
+      "hand_left_mae_raw": 3.18147611618042,
+      "hand_right_mae_raw": 7.480386257171631,
+      "action_mse_raw": 19.012062072753906,
+      "gt_hand_jitter": {
+        "J1": 3.0508646965026855,
+        "J2": 2.2935311794281006
+      },
+      "pred_hand_jitter": {
+        "J1": 3.6807589530944824,
+        "J2": 4.606006622314453
+      },
+      "hand_J2_ratio": 2.008259867416747
+    }
+  }
+}

e0_mlp_robot_only_20k_seed20260910/pill/norm_stats.json

@@ -0,0 +1,351 @@
+{
+  "mode": "mean_std",
+  "action": {
+    "mean": [
+      0.05272389203310013,
+      0.024100089445710182,
+      0.1184505745768547,
+      -0.005710941273719072,
+      -0.0396723747253418,
+      -0.03049681894481182,
+      0.06335193663835526,
+      -0.03368242830038071,
+      -0.12443483620882034,
+      0.018497854471206665,
+      -0.05591164529323578,
+      0.09301599860191345,
+      0.011410022154450417,
+      -0.022528931498527527,
+      -0.009209832176566124,
+      0.010145558044314384,
+      0.6143646240234375,
+      -0.25783678889274597,
+      0.29541099071502686,
+      0.11351702362298965,
+      -0.2830955982208252,
+      0.11856887489557266,
+      -0.39946308732032776,
+      -0.5547915101051331,
+      0.33167508244514465,
+      0.23210033774375916,
+      0.05239829048514366,
+      -0.12683525681495667,
+      -0.10954901576042175,
+      800.1535034179688,
+      895.1399536132812,
+      945.0226440429688,
+      997.0957641601562,
+      701.1258544921875,
+      759.6466674804688,
+      812.0257568359375,
+      783.5067138671875,
+      768.0884399414062,
+      704.9820556640625,
+      757.2325439453125,
+      396.2273254394531
+    ],
+    "std": [
+      0.03652823343873024,
+      0.011542398482561111,
+      0.06901055574417114,
+      0.025671053677797318,
+      0.014193840324878693,
+      0.009999999776482582,
+      0.0467534177005291,
+      0.009999999776482582,
+      0.028571434319019318,
+      0.03229431435465813,
+      0.01776695065200329,
+      0.012419354170560837,
+      0.078420490026474,
+      0.025072993710637093,
+      0.024950942024588585,
+      0.09549374878406525,
+      0.07306934148073196,
+      0.10927029699087143,
+      0.10889887064695358,
+      0.1768784075975418,
+      0.09551593661308289,
+      0.11498235166072845,
+      0.30900612473487854,
+      0.2307310402393341,
+      0.15945926308631897,
+      0.1959669142961502,
+      0.28973937034606934,
+      0.1261296421289444,
+      0.24197930097579956,
+      108.36185455322266,
+      50.46760177612305,
+      40.329376220703125,
+      7.333784580230713,
+      166.30043029785156,
+      198.72210693359375,
+      168.65147399902344,
+      193.07530212402344,
+      208.71121215820312,
+      256.4500732421875,
+      257.5872497558594,
+      222.43614196777344
+    ],
+    "min": [
+      -0.01770618185400963,
+      -0.006364178843796253,
+      -0.11991670727729797,
+      -0.08726699650287628,
+      -0.10584086924791336,
+      -0.0583362802863121,
+      0.00627927016466856,
+      -0.05536125600337982,
+      -0.19310255348682404,
+      -0.08726699650287628,
+      -0.12312636524438858,
+      0.05319035425782204,
+      -0.12723097205162048,
+      -0.10195346176624298,
+      -0.06477227061986923,
+      -0.21972043812274933,
+      0.4144800305366516,
+      -0.526933491230011,
+      -0.026195641607046127,
+      -0.3456164300441742,
+      -0.5431098937988281,
+      -0.2069869339466095,
+      -1.0210093259811401,
+      -1.2192786931991577,
+      -0.12060238420963287,
+      -0.22129501402378082,
+      -1.0045877695083618,
+      -0.4744046926498413,
+      -0.5037422180175781,
+      294.0,
+      747.0,
+      861.0,
+      917.0,
+      300.0,
+      0.0,
+      443.0,
+      238.0,
+      273.0,
+      219.0,
+      300.0,
+      0.0
+    ],
+    "max": [
+      0.18776117265224457,
+      0.047986648976802826,
+      0.2316833883523941,
+      0.046507179737091064,
+      -0.021247098222374916,
+      -0.007116132415831089,
+      0.248286172747612,
+      -0.01585487835109234,
+      -0.04265633225440979,
+      0.07131551951169968,
+      -0.02736699767410755,
+      0.12017945200204849,
+      0.24902711808681488,
+      0.020625075325369835,
+      0.08639990538358688,
+      0.21796180307865143,
+      0.797706663608551,
+      0.07691409438848495,
+      0.4951122999191284,
+      0.36235731840133667,
+      0.0036419660318642855,
+      0.3562013804912567,
+      0.16331522166728973,
+      -0.14054004848003387,
+      0.8391530513763428,
+      0.9069936275482178,
+      0.6620970368385315,
+      0.1547592580318451,
+      0.6354089975357056,
+      916.0,
+      998.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      890.0
+    ]
+  },
+  "state": {
+    "mean": [
+      0.24994590878486633,
+      0.033196281641721725,
+      0.15649762749671936,
+      0.12706969678401947,
+      -0.1521008163690567,
+      -0.028250260278582573,
+      0.3005121350288391,
+      -0.04948725551366806,
+      -0.1137489601969719,
+      0.1427236944437027,
+      -0.1940755993127823,
+      0.03296619653701782,
+      -0.014355683699250221,
+      0.0,
+      0.0,
+      0.15066298842430115,
+      0.5941892266273499,
+      -0.23227719962596893,
+      0.40090787410736084,
+      0.04558439925312996,
+      -0.28576239943504333,
+      0.13328126072883606,
+      -0.30358073115348816,
+      -0.5467710494995117,
+      0.4703257977962494,
+      0.2811294198036194,
+      0.1241573840379715,
+      -0.027132563292980194,
+      -0.113579660654068,
+      1000.0,
+      894.3258666992188,
+      943.9559326171875,
+      995.6591796875,
+      701.3051147460938,
+      744.58642578125,
+      811.3291625976562,
+      783.8294067382812,
+      772.7750854492188,
+      723.72705078125,
+      817.1150512695312,
+      377.5223693847656
+    ],
+    "std": [
+      0.02180430106818676,
+      0.009999999776482582,
+      0.06295165419578552,
+      0.009999999776482582,
+      0.011117481626570225,
+      0.009999999776482582,
+      0.028816550970077515,
+      0.01202311273664236,
+      0.036337196826934814,
+      0.010519440285861492,
+      0.009999999776482582,
+      0.011088913306593895,
+      0.08319062739610672,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.09142998605966568,
+      0.07416956126689911,
+      0.05523867905139923,
+      0.10815813392400742,
+      0.19166098535060883,
+      0.10340450704097748,
+      0.12575004994869232,
+      0.258105993270874,
+      0.23862330615520477,
+      0.16445408761501312,
+      0.22207139432430267,
+      0.3061506748199463,
+      0.12767145037651062,
+      0.25597643852233887,
+      0.009999999776482582,
+      50.14298629760742,
+      40.14000701904297,
+      7.300424575805664,
+      167.19906616210938,
+      197.35391235351562,
+      168.4609375,
+      190.95240783691406,
+      199.78085327148438,
+      230.34828186035156,
+      179.95603942871094,
+      218.4805145263672
+    ],
+    "min": [
+      0.1848105937242508,
+      0.0029060414526611567,
+      -0.06306243687868118,
+      0.10483906418085098,
+      -0.18415482342243195,
+      -0.034001365303993225,
+      0.2252139449119568,
+      -0.09307854622602463,
+      -0.1942494511604309,
+      0.10546118021011353,
+      -0.2311801314353943,
+      0.022929038852453232,
+      -0.16213567554950714,
+      0.0,
+      0.0,
+      -0.06795055419206619,
+      0.3860238790512085,
+      -0.3807747960090637,
+      -0.00971920695155859,
+      -0.4481620788574219,
+      -0.47805747389793396,
+      -0.1743292510509491,
+      -0.7854341268539429,
+      -1.1929577589035034,
+      0.10520951449871063,
+      -0.21196499466896057,
+      -0.9224737286567688,
+      -0.3494254946708679,
+      -0.4980912506580353,
+      1000.0,
+      747.0,
+      862.0,
+      923.0,
+      298.0,
+      0.0,
+      443.0,
+      373.0,
+      369.0,
+      292.0,
+      297.0,
+      0.0
+    ],
+    "max": [
+      0.29310962557792664,
+      0.04481780529022217,
+      0.2605661153793335,
+      0.15345773100852966,
+      -0.13415466248989105,
+      -0.01576302945613861,
+      0.3720073699951172,
+      -0.03736947476863861,
+      -0.016016706824302673,
+      0.17647597193717957,
+      -0.17919707298278809,
+      0.07329374551773071,
+      0.2116321325302124,
+      0.0,
+      0.0,
+      0.4177820682525635,
+      0.7813714742660522,
+      -0.1281113624572754,
+      0.5573863387107849,
+      0.3588916063308716,
+      -0.018913984298706055,
+      0.3842238485813141,
+      0.14669890701770782,
+      -0.13093964755535126,
+      0.9615183472633362,
+      0.9778409004211426,
+      0.7125101089477539,
+      0.30332937836647034,
+      0.5726273655891418,
+      1000.0,
+      996.0,
+      1000.0,
+      999.0,
+      1000.0,
+      987.0,
+      1000.0,
+      999.0,
+      1000.0,
+      997.0,
+      1000.0,
+      873.0
+    ]
+  }
+}

e0_mlp_robot_only_20k_seed20260910/pill/stage2_step20000.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dad99e2e8a0b35118ebf4fa671db474e3143b31b6275099e6bd7402e61929272
+size 278185329

e0_mlp_robot_only_20k_seed20260910/plastic/gate_step20000.json

@@ -0,0 +1,40 @@
+{
+  "gate": "g1",
+  "passed": true,
+  "finite": true,
+  "criteria": {
+    "rmse_norm_41_lt": 1.0,
+    "J2_hand_lt": 250.0,
+    "chunk_overlap_lt": 250.0
+  },
+  "metrics": {
+    "n_queries": 4238,
+    "n_valid_actions": 122790,
+    "rmse_norm_41": 0.05473111320923712,
+    "body_rmse_raw": 0.005452302444011746,
+    "hand_mae_raw": 2.958674430847168,
+    "right_hand_mae": 4.974732875823975,
+    "J1_hand": 3.1679484844207764,
+    "J2_hand": 3.4512834548950195,
+    "chunk_overlap": 0.6560267806053162,
+    "chunk0": {
+      "n_frames": 4238,
+      "body_rmse_rad": 0.006150256842374802,
+      "body_mae_rad": 0.0029317850712686777,
+      "hand_rmse_raw": 5.821979522705078,
+      "hand_mae_raw": 3.2641403675079346,
+      "hand_left_mae_raw": 1.056976318359375,
+      "hand_right_mae_raw": 5.471304893493652,
+      "action_mse_raw": 9.920644760131836,
+      "gt_hand_jitter": {
+        "J1": 2.6768152713775635,
+        "J2": 1.3874528408050537
+      },
+      "pred_hand_jitter": {
+        "J1": 3.1679484844207764,
+        "J2": 3.4512834548950195
+      },
+      "hand_J2_ratio": 2.487496045553845
+    }
+  }
+}

e0_mlp_robot_only_20k_seed20260910/plastic/norm_stats.json

@@ -0,0 +1,351 @@
+{
+  "mode": "mean_std",
+  "action": {
+    "mean": [
+      0.16538500785827637,
+      0.03536098822951317,
+      0.05752702057361603,
+      -0.071895070374012,
+      -0.05508732423186302,
+      -0.02647610381245613,
+      0.20682087540626526,
+      -0.07033848762512207,
+      -0.23415006697177887,
+      -0.05197257921099663,
+      -0.08040355145931244,
+      0.05785144865512848,
+      0.12496454268693924,
+      -0.0074171219021081924,
+      0.07198996096849442,
+      -0.19741737842559814,
+      0.6442014575004578,
+      -0.32645195722579956,
+      0.30216318368911743,
+      0.43988677859306335,
+      -0.29753339290618896,
+      0.13556140661239624,
+      -0.5396902561187744,
+      -0.4942905902862549,
+      0.40442991256713867,
+      0.3649078905582428,
+      -0.2664034962654114,
+      -0.10664181411266327,
+      0.037042856216430664,
+      876.2406616210938,
+      927.5313720703125,
+      963.61962890625,
+      996.5646362304688,
+      703.8928833007812,
+      991.499267578125,
+      865.74560546875,
+      847.80322265625,
+      821.9629516601562,
+      726.3812866210938,
+      777.1574096679688,
+      475.9513854980469
+    ],
+    "std": [
+      0.018475038930773735,
+      0.010898240841925144,
+      0.02990674041211605,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.017469897866249084,
+      0.009999999776482582,
+      0.03225342929363251,
+      0.010654529556632042,
+      0.009999999776482582,
+      0.015715066343545914,
+      0.05461041256785393,
+      0.023755719885230064,
+      0.01088650245219469,
+      0.08847452700138092,
+      0.04912906512618065,
+      0.12010064721107483,
+      0.08604451268911362,
+      0.12427756935358047,
+      0.08924130350351334,
+      0.06058918312191963,
+      0.22643740475177765,
+      0.14430157840251923,
+      0.20230679214000702,
+      0.1850561648607254,
+      0.4263432025909424,
+      0.1437365561723709,
+      0.1475716233253479,
+      42.898780822753906,
+      36.36191177368164,
+      32.10474395751953,
+      11.61486530303955,
+      35.756858825683594,
+      18.57579803466797,
+      160.21493530273438,
+      179.43505859375,
+      208.72332763671875,
+      256.4545593261719,
+      253.01475524902344,
+      267.197021484375
+    ],
+    "min": [
+      0.11474110186100006,
+      0.014531253837049007,
+      -0.03535192832350731,
+      -0.08726699650287628,
+      -0.08101039379835129,
+      -0.04350554570555687,
+      0.1611771285533905,
+      -0.09507380425930023,
+      -0.3224653899669647,
+      -0.07820633798837662,
+      -0.10627767443656921,
+      0.027278050780296326,
+      -0.0012878922279924154,
+      -0.056138746440410614,
+      0.03547418862581253,
+      -0.3429011404514313,
+      0.5241908431053162,
+      -0.5273400545120239,
+      0.037613965570926666,
+      -0.1339615136384964,
+      -0.609234631061554,
+      -0.11131634563207626,
+      -1.0133510828018188,
+      -0.7856058478355408,
+      0.05979852005839348,
+      -0.11723345518112183,
+      -0.9199995398521423,
+      -0.42757943272590637,
+      -0.3683125674724579,
+      777.0,
+      828.0,
+      879.0,
+      938.0,
+      587.0,
+      914.0,
+      397.0,
+      383.0,
+      341.0,
+      294.0,
+      300.0,
+      0.0
+    ],
+    "max": [
+      0.20695286989212036,
+      0.07150669395923615,
+      0.13048964738845825,
+      -0.04022277891635895,
+      -0.0327056348323822,
+      -0.011125337332487106,
+      0.23752833902835846,
+      -0.048615675419569016,
+      -0.15841121971607208,
+      -0.01837979443371296,
+      -0.05698788911104202,
+      0.10086342692375183,
+      0.23848947882652283,
+      0.06922869384288788,
+      0.10055700689554214,
+      0.10856446623802185,
+      0.8017780780792236,
+      -0.03665605187416077,
+      0.5035075545310974,
+      0.6334137916564941,
+      -0.0856253057718277,
+      0.30766886472702026,
+      0.012895687483251095,
+      -0.12555597722530365,
+      0.7860697507858276,
+      0.7372975945472717,
+      0.80381840467453,
+      0.4012661874294281,
+      0.4856647551059723,
+      949.0,
+      977.0,
+      1000.0,
+      1000.0,
+      803.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0
+    ]
+  },
+  "state": {
+    "mean": [
+      0.24983564019203186,
+      0.027285786345601082,
+      0.06247686967253685,
+      0.10714320093393326,
+      -0.12120833992958069,
+      -0.030644448474049568,
+      0.32437577843666077,
+      -0.05637745186686516,
+      -0.2284269630908966,
+      0.11454450339078903,
+      -0.18284520506858826,
+      0.021334638819098473,
+      0.09493210911750793,
+      0.0,
+      0.0,
+      -0.012884479016065598,
+      0.5984485745429993,
+      -0.25863778591156006,
+      0.4625685513019562,
+      0.46079087257385254,
+      -0.2595708668231964,
+      0.12951575219631195,
+      -0.4337770938873291,
+      -0.4657124876976013,
+      0.5336584448814392,
+      0.40548571944236755,
+      -0.19484110176563263,
+      -0.019539019092917442,
+      0.06463100761175156,
+      1000.0,
+      926.5401000976562,
+      962.4065551757812,
+      994.9410400390625,
+      704.7666625976562,
+      976.06982421875,
+      864.6923217773438,
+      847.00634765625,
+      822.2666625976562,
+      744.6727294921875,
+      831.4973754882812,
+      464.36785888671875
+    ],
+    "std": [
+      0.02200866863131523,
+      0.010586892254650593,
+      0.026803061366081238,
+      0.009999999776482582,
+      0.011818804778158665,
+      0.010683027096092701,
+      0.02511596865952015,
+      0.009999999776482582,
+      0.028102705255150795,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.010675488971173763,
+      0.04616749286651611,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.07717432826757431,
+      0.07174907624721527,
+      0.050311800092458725,
+      0.07895097881555557,
+      0.147478848695755,
+      0.08556187897920609,
+      0.06880827993154526,
+      0.2050248086452484,
+      0.16139058768749237,
+      0.22021813690662384,
+      0.22182786464691162,
+      0.4692957401275635,
+      0.1477799117565155,
+      0.15947020053863525,
+      0.009999999776482582,
+      36.09385681152344,
+      31.912864685058594,
+      11.589112281799316,
+      35.82450485229492,
+      18.42837142944336,
+      159.76065063476562,
+      178.58880615234375,
+      205.28118896484375,
+      229.178955078125,
+      187.49070739746094,
+      265.58251953125
+    ],
+    "min": [
+      0.20115600526332855,
+      0.001065264455974102,
+      0.012949963100254536,
+      0.0808493122458458,
+      -0.14331571757793427,
+      -0.04907241836190224,
+      0.26251524686813354,
+      -0.08210206031799316,
+      -0.2872561514377594,
+      0.1019415482878685,
+      -0.19229522347450256,
+      0.005247818771749735,
+      -0.0077672996558249,
+      0.0,
+      0.0,
+      -0.10278870165348053,
+      0.429886132478714,
+      -0.36095288395881653,
+      0.16910940408706665,
+      -0.12654143571853638,
+      -0.46332359313964844,
+      -0.18031178414821625,
+      -0.7913064360618591,
+      -0.758901059627533,
+      0.15237942337989807,
+      -0.08991764485836029,
+      -0.8338264226913452,
+      -0.4016805589199066,
+      -0.4030381441116333,
+      1000.0,
+      828.0,
+      879.0,
+      937.0,
+      589.0,
+      898.0,
+      401.0,
+      390.0,
+      345.0,
+      292.0,
+      295.0,
+      0.0
+    ],
+    "max": [
+      0.28993088006973267,
+      0.043479833751916885,
+      0.12457141280174255,
+      0.13852699100971222,
+      -0.09932966530323029,
+      -0.0035402958746999502,
+      0.36167004704475403,
+      -0.04072719067335129,
+      -0.15771634876728058,
+      0.12566711008548737,
+      -0.16429123282432556,
+      0.05162646993994713,
+      0.17529991269111633,
+      0.0,
+      0.0,
+      0.18870361149311066,
+      0.7792023420333862,
+      -0.13741113245487213,
+      0.5750750303268433,
+      0.6698462963104248,
+      -0.033885639160871506,
+      0.24663344025611877,
+      0.07919175922870636,
+      -0.11357450485229492,
+      0.9220183491706848,
+      0.8210152983665466,
+      0.8826141953468323,
+      0.4725121259689331,
+      0.4622114300727844,
+      1000.0,
+      975.0,
+      1000.0,
+      999.0,
+      803.0,
+      987.0,
+      1000.0,
+      999.0,
+      1000.0,
+      998.0,
+      1000.0,
+      985.0
+    ]
+  }
+}

e0_mlp_robot_only_20k_seed20260910/plastic/stage2_step20000.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbbff9a763122ae30eec573ef6ebb0630ee51aa0df8e6f3f2b04a823e8830702
+size 278185329

e0_mlp_robot_only_20k_seed20260910/realsense/gate_step20000.json

@@ -0,0 +1,40 @@
+{
+  "gate": "g1",
+  "passed": true,
+  "finite": true,
+  "criteria": {
+    "rmse_norm_41_lt": 1.0,
+    "J2_hand_lt": 250.0,
+    "chunk_overlap_lt": 250.0
+  },
+  "metrics": {
+    "n_queries": 5336,
+    "n_valid_actions": 155730,
+    "rmse_norm_41": 0.06837322912154575,
+    "body_rmse_raw": 0.006704874681329752,
+    "hand_mae_raw": 4.1093034744262695,
+    "right_hand_mae": 6.146208763122559,
+    "J1_hand": 3.6963257789611816,
+    "J2_hand": 4.276332855224609,
+    "chunk_overlap": 0.796422004699707,
+    "chunk0": {
+      "n_frames": 5336,
+      "body_rmse_rad": 0.007648523431271315,
+      "body_mae_rad": 0.00387383415363729,
+      "hand_rmse_raw": 6.7936482429504395,
+      "hand_mae_raw": 4.4730682373046875,
+      "hand_left_mae_raw": 2.356548309326172,
+      "hand_right_mae_raw": 6.589588165283203,
+      "action_mse_raw": 13.508427619934082,
+      "gt_hand_jitter": {
+        "J1": 3.0730865001678467,
+        "J2": 2.716238498687744
+      },
+      "pred_hand_jitter": {
+        "J1": 3.6963257789611816,
+        "J2": 4.276332855224609
+      },
+      "hand_J2_ratio": 1.5743583846891833
+    }
+  }
+}

e0_mlp_robot_only_20k_seed20260910/realsense/norm_stats.json

@@ -0,0 +1,351 @@
+{
+  "mode": "mean_std",
+  "action": {
+    "mean": [
+      0.1786120980978012,
+      0.006543817464262247,
+      -0.09121131151914597,
+      -0.0679701566696167,
+      -0.09503462165594101,
+      -0.026559319347143173,
+      0.213661327958107,
+      -0.04483310505747795,
+      -0.05888967961072922,
+      -0.0613732784986496,
+      -0.1035081073641777,
+      0.06486102938652039,
+      0.19406317174434662,
+      -0.05347483977675438,
+      0.07890193909406662,
+      -0.13897156715393066,
+      0.6972203254699707,
+      -0.23548972606658936,
+      0.218657448887825,
+      0.04643427953124046,
+      -0.3081958293914795,
+      0.09303006529808044,
+      -0.650780975818634,
+      -0.7130752801895142,
+      0.474373996257782,
+      0.38618576526641846,
+      -0.5474663376808167,
+      0.000137554612592794,
+      -0.006737523712217808,
+      818.9371948242188,
+      882.9025268554688,
+      932.5830078125,
+      996.8303833007812,
+      648.3737182617188,
+      917.8333740234375,
+      827.574951171875,
+      812.5712280273438,
+      788.2172241210938,
+      726.0084228515625,
+      785.8825073242188,
+      470.832275390625
+    ],
+    "std": [
+      0.014742165803909302,
+      0.018061159178614616,
+      0.06267572194337845,
+      0.01649630069732666,
+      0.015535213984549046,
+      0.009999999776482582,
+      0.02763896808028221,
+      0.009999999776482582,
+      0.051872704178094864,
+      0.01993744820356369,
+      0.012306899763643742,
+      0.01236964762210846,
+      0.07824274152517319,
+      0.02380443923175335,
+      0.013196309097111225,
+      0.11512475460767746,
+      0.0854363664984703,
+      0.10337361693382263,
+      0.09806399792432785,
+      0.2030547857284546,
+      0.09232214093208313,
+      0.09070058912038803,
+      0.2912431061267853,
+      0.12959684431552887,
+      0.181196391582489,
+      0.22587668895721436,
+      0.11398202925920486,
+      0.21205443143844604,
+      0.1985315978527069,
+      34.6574592590332,
+      44.607112884521484,
+      34.93790054321289,
+      11.288232803344727,
+      73.50528717041016,
+      120.56527709960938,
+      182.2401885986328,
+      199.99647521972656,
+      232.0673828125,
+      259.0243835449219,
+      259.2887878417969,
+      250.02670288085938
+    ],
+    "min": [
+      0.1395321786403656,
+      -0.06796783208847046,
+      -0.3068031072616577,
+      -0.08726699650287628,
+      -0.12734021246433258,
+      -0.055747948586940765,
+      0.13374875485897064,
+      -0.07012128829956055,
+      -0.26943808794021606,
+      -0.08726771175861359,
+      -0.13553911447525024,
+      0.04120412841439247,
+      0.025097278878092766,
+      -0.1098349392414093,
+      0.0370263010263443,
+      -0.5260517597198486,
+      0.5229344964027405,
+      -0.47716930508613586,
+      -0.03920901566743851,
+      -0.37597185373306274,
+      -0.5585477948188782,
+      -0.18508563935756683,
+      -1.1869056224822998,
+      -1.0013219118118286,
+      -0.10691982507705688,
+      -0.24646519124507904,
+      -0.8680233359336853,
+      -0.34226343035697937,
+      -0.6429599523544312,
+      755.0,
+      607.0,
+      862.0,
+      817.0,
+      481.0,
+      322.0,
+      281.0,
+      324.0,
+      294.0,
+      271.0,
+      300.0,
+      0.0
+    ],
+    "max": [
+      0.21138478815555573,
+      0.03335805609822273,
+      0.022215504199266434,
+      -0.019181016832590103,
+      -0.04286717250943184,
+      0.0095521816983819,
+      0.28148022294044495,
+      -0.0226791612803936,
+      0.04686920344829559,
+      -0.007675034925341606,
+      -0.06438586860895157,
+      0.10422462224960327,
+      0.49818676710128784,
+      0.008632338605821133,
+      0.12932433187961578,
+      0.21290835738182068,
+      0.9216387867927551,
+      0.08888302743434906,
+      0.4089439809322357,
+      0.4406982362270355,
+      -0.09719680994749069,
+      0.3577987849712372,
+      0.14776766300201416,
+      -0.36959701776504517,
+      0.85174161195755,
+      1.0051686763763428,
+      -0.20907892286777496,
+      0.6825017333030701,
+      0.43167585134506226,
+      914.0,
+      998.0,
+      1000.0,
+      1000.0,
+      865.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      853.0
+    ]
+  },
+  "state": {
+    "mean": [
+      0.25040167570114136,
+      0.0060490393079817295,
+      -0.027490535750985146,
+      0.11175362765789032,
+      -0.12266074866056442,
+      -0.023272797465324402,
+      0.34005868434906006,
+      -0.07678260654211044,
+      -0.026487601920962334,
+      0.11790065467357635,
+      -0.1951427161693573,
+      0.059380657970905304,
+      0.1418653428554535,
+      0.0,
+      0.0,
+      0.07598298788070679,
+      0.6169346570968628,
+      -0.20958681404590607,
+      0.3940292000770569,
+      -0.013878900557756424,
+      -0.2096918672323227,
+      0.08573450893163681,
+      -0.5162816643714905,
+      -0.6886708736419678,
+      0.6151713728904724,
+      0.36270302534103394,
+      -0.49161967635154724,
+      0.04442330449819565,
+      0.05287078768014908,
+      1000.0,
+      881.9434204101562,
+      931.4083862304688,
+      995.0884399414062,
+      648.4930419921875,
+      902.3005981445312,
+      827.0528564453125,
+      818.2867431640625,
+      816.0054321289062,
+      786.4613647460938,
+      920.4133911132812,
+      459.5387878417969
+    ],
+    "std": [
+      0.02755005843937397,
+      0.009999999776482582,
+      0.06679947674274445,
+      0.009999999776482582,
+      0.020036932080984116,
+      0.009999999776482582,
+      0.02843964658677578,
+      0.0295405276119709,
+      0.040855783969163895,
+      0.010876689106225967,
+      0.011922365985810757,
+      0.02251526340842247,
+      0.06864812970161438,
+      0.009999999776482582,
+      0.009999999776482582,
+      0.08432499319314957,
+      0.08687113970518112,
+      0.0441683754324913,
+      0.1005389541387558,
+      0.2127387672662735,
+      0.08489039540290833,
+      0.07109715044498444,
+      0.261691689491272,
+      0.13553400337696075,
+      0.1760576069355011,
+      0.20888417959213257,
+      0.1224202811717987,
+      0.21863818168640137,
+      0.16232505440711975,
+      0.009999999776482582,
+      44.46014404296875,
+      34.69485092163086,
+      11.256184577941895,
+      74.18850708007812,
+      120.47623443603516,
+      180.09564208984375,
+      188.5570831298828,
+      189.74594116210938,
+      178.41946411132812,
+      113.17559814453125,
+      243.5469970703125
+    ],
+    "min": [
+      0.18790411949157715,
+      -0.032111331820487976,
+      -0.2883007228374481,
+      0.09314671903848648,
+      -0.17922040820121765,
+      -0.029450520873069763,
+      0.2341451197862625,
+      -0.09618059545755386,
+      -0.18482154607772827,
+      0.09338533878326416,
+      -0.21119993925094604,
+      -0.00288028665818274,
+      -0.02638203464448452,
+      0.0,
+      0.0,
+      -0.1128554493188858,
+      0.45820486545562744,
+      -0.3377394378185272,
+      0.1224667951464653,
+      -0.4333016574382782,
+      -0.42183706164360046,
+      -0.16202673316001892,
+      -0.9413009881973267,
+      -0.946214497089386,
+      0.0770106315612793,
+      -0.17168600857257843,
+      -0.7912704348564148,
+      -0.27571773529052734,
+      -0.48003628849983215,
+      1000.0,
+      608.0,
+      862.0,
+      820.0,
+      476.0,
+      312.0,
+      413.0,
+      404.0,
+      308.0,
+      293.0,
+      351.0,
+      0.0
+    ],
+    "max": [
+      0.3343055546283722,
+      0.023785224184393883,
+      0.07348132878541946,
+      0.13622601330280304,
+      -0.08973421901464462,
+      -0.0007612783811055124,
+      0.3891453444957733,
+      0.008419849909842014,
+      0.06720053404569626,
+      0.16197985410690308,
+      -0.14133518934249878,
+      0.08014001697301865,
+      0.41559070348739624,
+      0.0,
+      0.0,
+      0.29472804069519043,
+      0.8994520306587219,
+      -0.13940051198005676,
+      0.5335736870765686,
+      0.3740636110305786,
+      -0.023600295186042786,
+      0.27825644612312317,
+      0.2247641384601593,
+      -0.3603057265281677,
+      0.9621415138244629,
+      0.8677297830581665,
+      -0.1176251694560051,
+      0.6821766495704651,
+      0.3754954934120178,
+      1000.0,
+      997.0,
+      1000.0,
+      999.0,
+      865.0,
+      987.0,
+      1000.0,
+      1000.0,
+      1000.0,
+      997.0,
+      1000.0,
+      833.0
+    ]
+  }
+}

e0_mlp_robot_only_20k_seed20260910/realsense/stage2_step20000.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5dea5a73408b1c08eb77dbe3d5b1f75225e0f8b31e94b930c0c7a3dbdd03950
+size 278185329