Publish latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923

latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/README.md

@@ -0,0 +1,3 @@
+# qwenoft — MIKASA InterceptGrabFast H1
+
+Latency-aware SFT with the matched RTX 3090 temporal profile. The 200-episode evaluation uses hold_last_chunk_action: true and seeds 4242424242–4242424441. See eval_profile.json and provenance.json for the corrected evaluation and sources.

latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/checkpoints/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98a7895a68788343533ddf2e09a3a4aa5bc29207abee10e096cc1cd9dbad890
+size 9785101729

latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/config.yaml

@@ -0,0 +1,40 @@
+framework:
+  name: QwenOFT
+  qwenvl:
+    base_vlm: Qwen/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    enable_gradient_checkpointing: false
+  action_model:
+    action_model_type: MLP
+    action_dim: 7
+    state_dim: 7
+    action_hidden_dim: 2560
+    future_action_window_size: 0
+    past_action_window_size: 0
+    loss_type: l1
+    state_encoding: continuous_projector
+    task_objective: null
+    action_env_dim: 7
+    action_horizon: 1
+version_id: '0.21'
+datasets:
+  vla_data:
+    include_state: true
+    obs_image_size:
+    - 224
+    - 224
+    image_mode: single
+    stitch_grid:
+    - 1
+    - 2
+    num_obs_frames: 1
+trainer:
+  pretrained_checkpoint: null
+backbone:
+  repo_id: Qwen/Qwen3-VL-4B-Instruct
+  allow_patterns:
+  - '*.json'
+  - '*.safetensors'
+  - '*.txt'
+  - '*.jinja'
+  - '*.model'

latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/dataset_statistics.json

@@ -0,0 +1,127 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.05790707468986511,
+        0.03112231194972992,
+        -0.17511922121047974,
+        -0.12289424985647202,
+        -0.5770576596260071,
+        -0.13129055500030518,
+        0.1644829362630844
+      ],
+      "std": [
+        0.22525864839553833,
+        0.5513959527015686,
+        0.2601189911365509,
+        0.31455758213996887,
+        0.4568418562412262,
+        0.09929453581571579,
+        0.7760053277015686
+      ],
+      "max": [
+        0.37479931116104126,
+        1.0,
+        0.26873481273651123,
+        0.7951485514640808,
+        0.7517688274383545,
+        0.28373175859451294,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -0.9187151193618774,
+        -0.906037449836731,
+        -1.0,
+        -0.5637427568435669,
+        -1.0
+      ],
+      "q01": [
+        -0.8459740281105042,
+        -1.0,
+        -0.8455526828765869,
+        -0.6494171619415283,
+        -1.0,
+        -0.393965482711792,
+        -1.0
+      ],
+      "q99": [
+        0.2987605035305023,
+        0.8557698130607605,
+        0.21682067215442657,
+        0.5484099388122559,
+        0.356411337852478,
+        0.14417223632335663,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.17069831490516663,
+        -0.0742788314819336,
+        0.1063804030418396,
+        -1.5082567930221558,
+        0.5474341511726379,
+        0.15987944602966309,
+        0.0586647130548954
+      ],
+      "std": [
+        0.08330926299095154,
+        0.14175531268119812,
+        0.09774160385131836,
+        2.604391574859619,
+        0.33217111229896545,
+        0.11704037338495255,
+        0.01839354634284973
+      ],
+      "max": [
+        -0.002650737762451172,
+        0.28699302673339844,
+        0.3558541536331177,
+        3.141549825668335,
+        1.161203145980835,
+        0.9059255719184875,
+        0.07999999821186066
+      ],
+      "min": [
+        -0.3921546936035156,
+        -0.41436100006103516,
+        0.013755835592746735,
+        -3.141571044921875,
+        -0.10707132518291473,
+        -0.13081370294094086,
+        0.03526599705219269
+      ],
+      "q01": [
+        -0.33845293521881104,
+        -0.3660251200199127,
+        0.01732698082923889,
+        -3.1392648220062256,
+        -0.049377378076314926,
+        -0.0459904782474041,
+        0.03552554175257683
+      ],
+      "q99": [
+        -0.03408023342490196,
+        0.18891364336013794,
+        0.33724573254585266,
+        3.139533281326294,
+        1.0821659564971924,
+        0.5248527526855469,
+        0.07999999821186066
+      ]
+    },
+    "num_transitions": 5248,
+    "num_trajectories": 250
+  }
+}

latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/provenance.json

@@ -0,0 +1,1141 @@
+{
+  "task": "mikasa_intercept_grab_fast",
+  "model": "qwenoft",
+  "run_id": "mikasa_qwenoft_latency_3090_2xh200_20260922",
+  "condition": "latency-aware",
+  "teacher": {
+    "repo_id": "latency-sensitive-bench/benchmark-models",
+    "revision": "36ce8ed93649b6213d82df9174530255bef44233",
+    "path": "latency-aware/mikasa-intercept-grab-fast/small-policy/ppo-qwenoft-rtx3090-v1/checkpoint.pt"
+  },
+  "profile": {
+    "repo_id": "latency-sensitive-bench/profiles",
+    "revision": "66414463f2a609316da63935941a79abf0a73ce9",
+    "path": "profiles/qwenoft/1x-rtx3090/mikasa_intercept_grab_fast/instance_3a0d42681a03715c"
+  },
+  "dataset": {
+    "episodes": 275,
+    "unique_episode_seeds": 275,
+    "episode_seeds": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      100,
+      101,
+      102,
+      103,
+      104,
+      105,
+      106,
+      107,
+      108,
+      109,
+      110,
+      111,
+      112,
+      113,
+      114,
+      115,
+      116,
+      117,
+      118,
+      119,
+      120,
+      121,
+      122,
+      123,
+      124,
+      125,
+      126,
+      127,
+      128,
+      129,
+      130,
+      131,
+      132,
+      133,
+      134,
+      135,
+      136,
+      137,
+      138,
+      139,
+      140,
+      141,
+      142,
+      143,
+      144,
+      145,
+      146,
+      147,
+      148,
+      149,
+      150,
+      151,
+      152,
+      153,
+      154,
+      155,
+      156,
+      157,
+      158,
+      159,
+      160,
+      161,
+      162,
+      163,
+      164,
+      165,
+      166,
+      167,
+      168,
+      169,
+      170,
+      171,
+      172,
+      173,
+      174,
+      175,
+      176,
+      177,
+      178,
+      179,
+      180,
+      181,
+      182,
+      183,
+      184,
+      185,
+      186,
+      187,
+      188,
+      189,
+      190,
+      191,
+      192,
+      193,
+      194,
+      195,
+      196,
+      197,
+      198,
+      199,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      200,
+      201,
+      202,
+      203,
+      204,
+      205,
+      206,
+      207,
+      208,
+      209,
+      210,
+      211,
+      212,
+      213,
+      214,
+      215,
+      216,
+      217,
+      218,
+      219,
+      220,
+      221,
+      222,
+      223,
+      224,
+      225,
+      226,
+      227,
+      228,
+      229,
+      230,
+      231,
+      232,
+      233,
+      234,
+      235,
+      236,
+      237,
+      238,
+      239,
+      240,
+      241,
+      242,
+      243,
+      244,
+      245,
+      246,
+      247,
+      248,
+      249,
+      250,
+      251,
+      252,
+      253,
+      254,
+      255,
+      256,
+      257,
+      258,
+      259,
+      260,
+      261,
+      262,
+      263,
+      264,
+      265,
+      266,
+      267,
+      268,
+      269,
+      270,
+      271,
+      272,
+      273,
+      274,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89,
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99
+    ],
+    "episode_lengths": [
+      16,
+      22,
+      22,
+      27,
+      18,
+      23,
+      16,
+      25,
+      21,
+      18,
+      16,
+      17,
+      22,
+      21,
+      15,
+      20,
+      16,
+      19,
+      18,
+      15,
+      20,
+      19,
+      21,
+      21,
+      27,
+      21,
+      15,
+      23,
+      16,
+      21,
+      23,
+      18,
+      20,
+      21,
+      22,
+      18,
+      24,
+      24,
+      22,
+      21,
+      23,
+      17,
+      16,
+      22,
+      21,
+      22,
+      16,
+      21,
+      19,
+      22,
+      17,
+      28,
+      19,
+      23,
+      24,
+      18,
+      21,
+      16,
+      18,
+      21,
+      21,
+      22,
+      20,
+      19,
+      18,
+      17,
+      19,
+      20,
+      20,
+      21,
+      17,
+      21,
+      23,
+      23,
+      21,
+      22,
+      22,
+      23,
+      25,
+      19,
+      24,
+      21,
+      21,
+      21,
+      24,
+      16,
+      26,
+      14,
+      16,
+      19,
+      19,
+      17,
+      22,
+      22,
+      19,
+      22,
+      19,
+      23,
+      18,
+      23,
+      17,
+      21,
+      22,
+      22,
+      24,
+      22,
+      23,
+      19,
+      19,
+      28,
+      15,
+      23,
+      25,
+      21,
+      24,
+      22,
+      21,
+      20,
+      20,
+      26,
+      16,
+      21,
+      24,
+      21,
+      18,
+      19,
+      20,
+      18,
+      23,
+      29,
+      23,
+      28,
+      19,
+      20,
+      23,
+      23,
+      23,
+      22,
+      23,
+      17,
+      15,
+      15,
+      15,
+      16,
+      18,
+      20,
+      24,
+      15,
+      29,
+      21,
+      21,
+      19,
+      22,
+      19,
+      22,
+      23,
+      18,
+      18,
+      21,
+      23,
+      19,
+      18,
+      23,
+      20,
+      21,
+      22,
+      28,
+      21,
+      22,
+      22,
+      24,
+      26,
+      21,
+      18,
+      22,
+      16,
+      15,
+      24,
+      19,
+      16,
+      21,
+      27,
+      25,
+      20,
+      23,
+      22,
+      18,
+      23,
+      21,
+      15,
+      17,
+      22,
+      23,
+      29,
+      25,
+      16,
+      23,
+      21,
+      23,
+      23,
+      29,
+      18,
+      19,
+      22,
+      19,
+      27,
+      21,
+      23,
+      23,
+      24,
+      20,
+      22,
+      23,
+      29,
+      19,
+      23,
+      20,
+      19,
+      16,
+      21,
+      23,
+      25,
+      21,
+      15,
+      18,
+      17,
+      19,
+      23,
+      21,
+      22,
+      24,
+      23,
+      24,
+      15,
+      23,
+      26,
+      25,
+      24,
+      17,
+      24,
+      19,
+      21,
+      22,
+      22,
+      22,
+      22,
+      18,
+      20,
+      17,
+      19,
+      17,
+      23,
+      22,
+      18,
+      29,
+      17,
+      17,
+      15,
+      21,
+      27,
+      29,
+      22,
+      20,
+      21,
+      20,
+      20,
+      19,
+      22,
+      24,
+      21,
+      22,
+      23,
+      23,
+      15,
+      23
+    ],
+    "admitted_request_counts": [
+      16,
+      22,
+      22,
+      27,
+      18,
+      23,
+      16,
+      25,
+      21,
+      18,
+      16,
+      17,
+      22,
+      21,
+      15,
+      20,
+      16,
+      19,
+      18,
+      15,
+      20,
+      19,
+      21,
+      21,
+      27,
+      21,
+      15,
+      23,
+      16,
+      21,
+      23,
+      18,
+      20,
+      21,
+      22,
+      18,
+      24,
+      24,
+      22,
+      21,
+      23,
+      17,
+      16,
+      22,
+      21,
+      22,
+      16,
+      21,
+      19,
+      22,
+      17,
+      28,
+      19,
+      23,
+      24,
+      18,
+      21,
+      16,
+      18,
+      21,
+      21,
+      22,
+      20,
+      19,
+      18,
+      17,
+      19,
+      20,
+      20,
+      21,
+      17,
+      21,
+      23,
+      23,
+      21,
+      22,
+      22,
+      23,
+      25,
+      19,
+      24,
+      21,
+      21,
+      21,
+      24,
+      16,
+      26,
+      14,
+      16,
+      19,
+      19,
+      17,
+      22,
+      22,
+      19,
+      22,
+      19,
+      23,
+      18,
+      23,
+      17,
+      21,
+      22,
+      22,
+      24,
+      22,
+      23,
+      19,
+      19,
+      28,
+      15,
+      23,
+      25,
+      21,
+      24,
+      22,
+      21,
+      20,
+      20,
+      26,
+      16,
+      21,
+      24,
+      21,
+      18,
+      19,
+      20,
+      18,
+      23,
+      29,
+      23,
+      28,
+      19,
+      20,
+      23,
+      23,
+      23,
+      22,
+      23,
+      17,
+      15,
+      15,
+      15,
+      16,
+      18,
+      20,
+      24,
+      15,
+      29,
+      21,
+      21,
+      19,
+      22,
+      19,
+      22,
+      23,
+      18,
+      18,
+      21,
+      23,
+      19,
+      18,
+      23,
+      20,
+      21,
+      22,
+      28,
+      21,
+      22,
+      22,
+      24,
+      26,
+      21,
+      18,
+      22,
+      16,
+      15,
+      24,
+      19,
+      16,
+      21,
+      27,
+      25,
+      20,
+      23,
+      22,
+      18,
+      23,
+      21,
+      15,
+      17,
+      22,
+      23,
+      29,
+      25,
+      16,
+      23,
+      21,
+      23,
+      23,
+      29,
+      18,
+      19,
+      22,
+      19,
+      27,
+      21,
+      23,
+      23,
+      24,
+      20,
+      22,
+      23,
+      29,
+      19,
+      23,
+      20,
+      19,
+      16,
+      21,
+      23,
+      25,
+      21,
+      15,
+      18,
+      17,
+      19,
+      23,
+      21,
+      22,
+      24,
+      23,
+      24,
+      15,
+      23,
+      26,
+      25,
+      24,
+      17,
+      24,
+      19,
+      21,
+      22,
+      22,
+      22,
+      22,
+      18,
+      20,
+      17,
+      19,
+      17,
+      23,
+      22,
+      18,
+      29,
+      17,
+      17,
+      15,
+      21,
+      27,
+      29,
+      22,
+      20,
+      21,
+      20,
+      20,
+      19,
+      22,
+      24,
+      21,
+      22,
+      23,
+      23,
+      15,
+      23
+    ]
+  },
+  "splits": {
+    "train": 250,
+    "validation": 25
+  },
+  "task_contract": {
+    "state_dim": 7,
+    "action_dim": 7,
+    "action_horizon": 1,
+    "env_fps": 20,
+    "obs_fps": 20
+  },
+  "action_labels": "issued H1 teacher actions at admitted request observations",
+  "code_revisions": {
+    "benchmark": {
+      "revision": "9b2b9360e0e5441172c4f8cd3cf70b4bca4afbc7",
+      "dirty": false
+    },
+    "mikasa": {
+      "revision": "017490bbb787c6efa8c025f9558e1a691965c0e0",
+      "dirty": false
+    },
+    "starvla": {
+      "revision": "3d2cd7fce72def48d9020d794392489031ba3f46",
+      "dirty": false
+    },
+    "rlds_builder": {
+      "revision": "7b2f4f38a7773b792f6e690f5c838aaea39754f6",
+      "dirty": false
+    }
+  },
+  "launcher": {
+    "gradient_checkpointing": false,
+    "oom_retry": false,
+    "haic_hf_exchange": false
+  },
+  "training": {
+    "sft_updates": 5000,
+    "dagger_updates": 0,
+    "global_batch": 128,
+    "bootstrap_weight": 1.0,
+    "dagger_weight": 0.0,
+    "micro_batch": 64,
+    "num_gpus": 2,
+    "gradient_accumulation_steps": 1,
+    "gradient_checkpointing": false,
+    "oom_retry": false,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08,
+      "fused": true
+    },
+    "learning_rate": {
+      "base": 3e-05,
+      "action_model": 0.0001
+    },
+    "scheduler": "cosine_with_min_lr",
+    "scheduler_kwargs": {
+      "min_lr": 1e-06
+    },
+    "warmup_updates": 100
+  },
+  "evaluation": {
+    "training_steps": 5000,
+    "global_batch": 128,
+    "evaluation_episodes": 200,
+    "evaluation_seeds": [
+      4242424242,
+      4242424243,
+      4242424244,
+      4242424245,
+      4242424246,
+      4242424247,
+      4242424248,
+      4242424249,
+      4242424250,
+      4242424251,
+      4242424252,
+      4242424253,
+      4242424254,
+      4242424255,
+      4242424256,
+      4242424257,
+      4242424258,
+      4242424259,
+      4242424260,
+      4242424261,
+      4242424262,
+      4242424263,
+      4242424264,
+      4242424265,
+      4242424266,
+      4242424267,
+      4242424268,
+      4242424269,
+      4242424270,
+      4242424271,
+      4242424272,
+      4242424273,
+      4242424274,
+      4242424275,
+      4242424276,
+      4242424277,
+      4242424278,
+      4242424279,
+      4242424280,
+      4242424281,
+      4242424282,
+      4242424283,
+      4242424284,
+      4242424285,
+      4242424286,
+      4242424287,
+      4242424288,
+      4242424289,
+      4242424290,
+      4242424291,
+      4242424292,
+      4242424293,
+      4242424294,
+      4242424295,
+      4242424296,
+      4242424297,
+      4242424298,
+      4242424299,
+      4242424300,
+      4242424301,
+      4242424302,
+      4242424303,
+      4242424304,
+      4242424305,
+      4242424306,
+      4242424307,
+      4242424308,
+      4242424309,
+      4242424310,
+      4242424311,
+      4242424312,
+      4242424313,
+      4242424314,
+      4242424315,
+      4242424316,
+      4242424317,
+      4242424318,
+      4242424319,
+      4242424320,
+      4242424321,
+      4242424322,
+      4242424323,
+      4242424324,
+      4242424325,
+      4242424326,
+      4242424327,
+      4242424328,
+      4242424329,
+      4242424330,
+      4242424331,
+      4242424332,
+      4242424333,
+      4242424334,
+      4242424335,
+      4242424336,
+      4242424337,
+      4242424338,
+      4242424339,
+      4242424340,
+      4242424341,
+      4242424342,
+      4242424343,
+      4242424344,
+      4242424345,
+      4242424346,
+      4242424347,
+      4242424348,
+      4242424349,
+      4242424350,
+      4242424351,
+      4242424352,
+      4242424353,
+      4242424354,
+      4242424355,
+      4242424356,
+      4242424357,
+      4242424358,
+      4242424359,
+      4242424360,
+      4242424361,
+      4242424362,
+      4242424363,
+      4242424364,
+      4242424365,
+      4242424366,
+      4242424367,
+      4242424368,
+      4242424369,
+      4242424370,
+      4242424371,
+      4242424372,
+      4242424373,
+      4242424374,
+      4242424375,
+      4242424376,
+      4242424377,
+      4242424378,
+      4242424379,
+      4242424380,
+      4242424381,
+      4242424382,
+      4242424383,
+      4242424384,
+      4242424385,
+      4242424386,
+      4242424387,
+      4242424388,
+      4242424389,
+      4242424390,
+      4242424391,
+      4242424392,
+      4242424393,
+      4242424394,
+      4242424395,
+      4242424396,
+      4242424397,
+      4242424398,
+      4242424399,
+      4242424400,
+      4242424401,
+      4242424402,
+      4242424403,
+      4242424404,
+      4242424405,
+      4242424406,
+      4242424407,
+      4242424408,
+      4242424409,
+      4242424410,
+      4242424411,
+      4242424412,
+      4242424413,
+      4242424414,
+      4242424415,
+      4242424416,
+      4242424417,
+      4242424418,
+      4242424419,
+      4242424420,
+      4242424421,
+      4242424422,
+      4242424423,
+      4242424424,
+      4242424425,
+      4242424426,
+      4242424427,
+      4242424428,
+      4242424429,
+      4242424430,
+      4242424431,
+      4242424432,
+      4242424433,
+      4242424434,
+      4242424435,
+      4242424436,
+      4242424437,
+      4242424438,
+      4242424439,
+      4242424440,
+      4242424441
+    ],
+    "latency_seed": 271828,
+    "profile_revision": "66414463f2a609316da63935941a79abf0a73ce9",
+    "deterministic": true,
+    "worker_capacity": 1,
+    "parallel_envs": 10,
+    "max_transitions": 60,
+    "evaluation_steps": 12000,
+    "non_noop_steps": 11561,
+    "hold_last_chunk_action": true,
+    "corrected_eval_code_revision": "61e5210d",
+    "corrected_evaluation": "/home/ubuntu/codex/mikasa-h1-latency-20260922/outputs/latency_rl/mikasa/mikasa_qwenoft_latency_3090_2xh200_20260922/run/evals/final-hold-last-20260923",
+    "invalidated_evaluation": "/home/ubuntu/codex/mikasa-h1-latency-20260922/outputs/latency_rl/mikasa/mikasa_qwenoft_latency_3090_2xh200_20260922/run/evals/final",
+    "successes": 101,
+    "mean_return": 17.77506406483916,
+    "std_return": 15.435502189258187,
+    "mean_latency_ms": 99.09127492160007
+  },
+  "publication_run_id": "mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923"
+}

latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h1/mikasa_qwenoft_latency_3090_2xh200_20260922_evalfix_20260923/task_contract.json

@@ -0,0 +1,131 @@
+{
+  "format": "latency_bench_starvla_h1_v1",
+  "task": "mikasa_intercept_grab_fast",
+  "robot_type": "latency_mikasa_h1",
+  "state_dim": 7,
+  "action_dim": 7,
+  "action_horizon": 1,
+  "fps": 20.0,
+  "state_key": "observation.state",
+  "action_key": "action",
+  "video_keys": [
+    "video.top",
+    "video.wrist"
+  ],
+  "auxiliary": {},
+  "normalization": {
+    "state": {
+      "mean": [
+        -0.17069831490516663,
+        -0.0742788314819336,
+        0.1063804030418396,
+        -1.5082567930221558,
+        0.5474341511726379,
+        0.15987944602966309,
+        0.0586647130548954
+      ],
+      "std": [
+        0.08330926299095154,
+        0.14175531268119812,
+        0.09774160385131836,
+        2.604391574859619,
+        0.33217111229896545,
+        0.11704037338495255,
+        0.01839354634284973
+      ],
+      "min": [
+        -0.3921546936035156,
+        -0.41436100006103516,
+        0.013755835592746735,
+        -3.141571044921875,
+        -0.10707132518291473,
+        -0.13081370294094086,
+        0.03526599705219269
+      ],
+      "max": [
+        -0.002650737762451172,
+        0.28699302673339844,
+        0.3558541536331177,
+        3.141549825668335,
+        1.161203145980835,
+        0.9059255719184875,
+        0.07999999821186066
+      ],
+      "q01": [
+        -0.33845293521881104,
+        -0.3660251200199127,
+        0.01732698082923889,
+        -3.1392648220062256,
+        -0.049377378076314926,
+        -0.0459904782474041,
+        0.03552554175257683
+      ],
+      "q99": [
+        -0.03408023342490196,
+        0.18891364336013794,
+        0.33724573254585266,
+        3.139533281326294,
+        1.0821659564971924,
+        0.5248527526855469,
+        0.07999999821186066
+      ]
+    },
+    "action": {
+      "mean": [
+        -0.05790707468986511,
+        0.03112231194972992,
+        -0.17511922121047974,
+        -0.12289424985647202,
+        -0.5770576596260071,
+        -0.13129055500030518,
+        0.1644829362630844
+      ],
+      "std": [
+        0.22525864839553833,
+        0.5513959527015686,
+        0.2601189911365509,
+        0.31455758213996887,
+        0.4568418562412262,
+        0.09929453581571579,
+        0.7760053277015686
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -0.9187151193618774,
+        -0.906037449836731,
+        -1.0,
+        -0.5637427568435669,
+        -1.0
+      ],
+      "max": [
+        0.37479931116104126,
+        1.0,
+        0.26873481273651123,
+        0.7951485514640808,
+        0.7517688274383545,
+        0.28373175859451294,
+        1.0
+      ],
+      "q01": [
+        -0.8459740281105042,
+        -1.0,
+        -0.8455526828765869,
+        -0.6494171619415283,
+        -1.0,
+        -0.393965482711792,
+        -1.0
+      ],
+      "q99": [
+        0.2987605035305023,
+        0.8557698130607605,
+        0.21682067215442657,
+        0.5484099388122559,
+        0.356411337852478,
+        0.14417223632335663,
+        1.0
+      ]
+    }
+  },
+  "prompt": "Intercept the rolling ball and grasp it to stop it."
+}