Hugging Face's logo

UD77
/
latchbench-groot-n17-load

Robotics
LeRobot
Safetensors
groot
Model card Files
xet
 Community
UD77 commited on
Commit
b861582
·
verified ·
1 Parent(s): 48cd9d2

Upload DataProcessorPipeline

Browse files
Files changed (2) hide show
  1. policy_preprocessor.json +2102 -0
  2. policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors +3 -0
policy_preprocessor.json ADDED
@@ -0,0 +1,2102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "groot_n1_7_pack_inputs_v1",
16
+ "config": {
17
+ "state_horizon": 1,
18
+ "action_horizon": 40,
19
+ "valid_action_horizon": 16,
20
+ "video_horizon": null,
21
+ "max_state_dim": 132,
22
+ "max_action_dim": 132,
23
+ "language_key": "task",
24
+ "formalize_language": true,
25
+ "embodiment_tag": "new_embodiment",
26
+ "embodiment_mapping": {
27
+ "oxe_droid_relative_eef_relative_joint": 24,
28
+ "xdof_relative_eef_relative_joint": 27,
29
+ "xdof_relative_eef_relative_joint_subtask": 27,
30
+ "real_g1_relative_eef_relative_joints": 25,
31
+ "real_r1_pro_sharpa_relative_eef": 26,
32
+ "real_r1_pro_sharpa_relative_eef_human": 26,
33
+ "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
34
+ "real_r1_pro_sharpa_relative_eef_mecka": 26,
35
+ "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
36
+ "simpler_env_google": 0,
37
+ "simpler_env_widowx": 1,
38
+ "libero_sim": 2,
39
+ "new_embodiment": 10
40
+ },
41
+ "normalize_min_max": true,
42
+ "state_dropout_prob": 0.0,
43
+ "clip_outliers": true,
44
+ "use_percentiles": true,
45
+ "video_modality_keys": [
46
+ "front",
47
+ "wrist"
48
+ ],
49
+ "raw_stats": {
50
+ "state": {
51
+ "single_arm": {
52
+ "min": [
53
+ -2.329638719558716,
54
+ -49.1268310546875,
55
+ 15.420900344848633,
56
+ 53.97288513183594,
57
+ -95.2852554321289
58
+ ],
59
+ "max": [
60
+ 29.39726448059082,
61
+ 4.659980773925781,
62
+ 70.58637237548828,
63
+ 78.88434600830078,
64
+ -57.904273986816406
65
+ ],
66
+ "mean": [
67
+ 10.38499641418457,
68
+ -16.231586456298828,
69
+ 40.92549514770508,
70
+ 65.38304138183594,
71
+ -79.67721557617188
72
+ ],
73
+ "std": [
74
+ 5.213264465332031,
75
+ 7.944167613983154,
76
+ 7.640957355499268,
77
+ 3.7579267024993896,
78
+ 5.695884704589844
79
+ ],
80
+ "count": [
81
+ 139323
82
+ ],
83
+ "q01": [
84
+ 7.5266194343566895,
85
+ -34.442138671875,
86
+ 31.09282875061035,
87
+ 63.39055252075195,
88
+ -82.59799194335938
89
+ ],
90
+ "q10": [
91
+ 9.396028518676758,
92
+ -26.794954299926758,
93
+ 34.53813171386719,
94
+ 64.37017822265625,
95
+ -80.6807632446289
96
+ ],
97
+ "q50": [
98
+ 10.167398452758789,
99
+ -14.458038330078125,
100
+ 39.403316497802734,
101
+ 65.18406677246094,
102
+ -79.87702178955078
103
+ ],
104
+ "q90": [
105
+ 11.573687553405762,
106
+ -9.442363739013672,
107
+ 50.776329040527344,
108
+ 66.59416961669922,
109
+ -78.50669860839844
110
+ ],
111
+ "q99": [
112
+ 14.80760383605957,
113
+ -6.549474239349365,
114
+ 56.42900085449219,
115
+ 69.39179992675781,
116
+ -75.06861114501953
117
+ ]
118
+ },
119
+ "gripper": {
120
+ "min": [
121
+ -8.393832206726074
122
+ ],
123
+ "max": [
124
+ -8.262033462524414
125
+ ],
126
+ "mean": [
127
+ -8.32224178314209
128
+ ],
129
+ "std": [
130
+ 0.02571699395775795
131
+ ],
132
+ "count": [
133
+ 139323
134
+ ],
135
+ "q01": [
136
+ -8.389509201049805
137
+ ],
138
+ "q10": [
139
+ -8.363371849060059
140
+ ],
141
+ "q50": [
142
+ -8.309545516967773
143
+ ],
144
+ "q90": [
145
+ -8.306038856506348
146
+ ],
147
+ "q99": [
148
+ -8.305662155151367
149
+ ]
150
+ }
151
+ },
152
+ "action": {
153
+ "single_arm": {
154
+ "min": [
155
+ -3.9656808376312256,
156
+ -52.95136260986328,
157
+ 12.410028457641602,
158
+ 46.94491195678711,
159
+ -95.85847473144531
160
+ ],
161
+ "max": [
162
+ 30.48879051208496,
163
+ 3.9676761627197266,
164
+ 70.19803619384766,
165
+ 80.11930084228516,
166
+ -55.794403076171875
167
+ ],
168
+ "mean": [
169
+ 10.254672050476074,
170
+ -17.016618728637695,
171
+ 38.3721809387207,
172
+ 64.77692413330078,
173
+ -79.74711608886719
174
+ ],
175
+ "std": [
176
+ 5.215982913970947,
177
+ 8.024234771728516,
178
+ 7.913869857788086,
179
+ 4.096853733062744,
180
+ 5.735965251922607
181
+ ],
182
+ "count": [
183
+ 139323
184
+ ],
185
+ "q01": [
186
+ 7.847431659698486,
187
+ -35.69976043701172,
188
+ 27.998186111450195,
189
+ 62.2405891418457,
190
+ -81.8412857055664
191
+ ],
192
+ "q10": [
193
+ 8.922993659973145,
194
+ -27.099468231201172,
195
+ 31.394685745239258,
196
+ 63.263877868652344,
197
+ -80.82868957519531
198
+ ],
199
+ "q50": [
200
+ 10.099456787109375,
201
+ -15.573721885681152,
202
+ 36.928775787353516,
203
+ 64.73039245605469,
204
+ -79.94071960449219
205
+ ],
206
+ "q90": [
207
+ 11.597087860107422,
208
+ -9.692290306091309,
209
+ 48.225372314453125,
210
+ 66.17449188232422,
211
+ -78.59918975830078
212
+ ],
213
+ "q99": [
214
+ 14.673209190368652,
215
+ -6.734338283538818,
216
+ 55.29315185546875,
217
+ 69.19530487060547,
218
+ -75.2178726196289
219
+ ]
220
+ },
221
+ "gripper": {
222
+ "min": [
223
+ -8.393832206726074
224
+ ],
225
+ "max": [
226
+ -8.393832206726074
227
+ ],
228
+ "mean": [
229
+ -8.393824577331543
230
+ ],
231
+ "std": [
232
+ 0.01203208975493908
233
+ ],
234
+ "count": [
235
+ 139323
236
+ ],
237
+ "q01": [
238
+ -8.393832206726074
239
+ ],
240
+ "q10": [
241
+ -8.393832206726074
242
+ ],
243
+ "q50": [
244
+ -8.393832206726074
245
+ ],
246
+ "q90": [
247
+ -8.393832206726074
248
+ ],
249
+ "q99": [
250
+ -8.393832206726074
251
+ ]
252
+ }
253
+ },
254
+ "relative_action": {
255
+ "single_arm": {
256
+ "min": [
257
+ [
258
+ -6.538521766662598,
259
+ -11.24990463256836,
260
+ -8.566047668457031,
261
+ -15.436222076416016,
262
+ -5.80389404296875
263
+ ],
264
+ [
265
+ -6.658559322357178,
266
+ -12.579540252685547,
267
+ -9.46163558959961,
268
+ -15.46926498413086,
269
+ -6.960594177246094
270
+ ],
271
+ [
272
+ -7.524850368499756,
273
+ -14.358139038085938,
274
+ -10.28293228149414,
275
+ -15.497760772705078,
276
+ -8.040260314941406
277
+ ],
278
+ [
279
+ -8.320575714111328,
280
+ -16.017475128173828,
281
+ -10.80759048461914,
282
+ -15.523387908935547,
283
+ -9.0191650390625
284
+ ],
285
+ [
286
+ -9.02973747253418,
287
+ -17.353635787963867,
288
+ -11.223175048828125,
289
+ -15.544544219970703,
290
+ -9.915702819824219
291
+ ],
292
+ [
293
+ -9.645764350891113,
294
+ -18.676225662231445,
295
+ -11.528839111328125,
296
+ -15.56856918334961,
297
+ -10.726043701171875
298
+ ],
299
+ [
300
+ -10.177665710449219,
301
+ -19.7917423248291,
302
+ -11.82940673828125,
303
+ -15.593868255615234,
304
+ -11.395553588867188
305
+ ],
306
+ [
307
+ -10.627909660339355,
308
+ -20.721799850463867,
309
+ -12.11020278930664,
310
+ -15.619747161865234,
311
+ -12.06390380859375
312
+ ],
313
+ [
314
+ -10.989325523376465,
315
+ -21.637968063354492,
316
+ -12.347614288330078,
317
+ -15.645244598388672,
318
+ -12.630012512207031
319
+ ],
320
+ [
321
+ -11.310340881347656,
322
+ -22.385950088500977,
323
+ -12.574264526367188,
324
+ -15.668827056884766,
325
+ -13.132972717285156
326
+ ],
327
+ [
328
+ -11.549150466918945,
329
+ -23.016218185424805,
330
+ -12.833549499511719,
331
+ -15.69308853149414,
332
+ -13.613365173339844
333
+ ],
334
+ [
335
+ -11.836396217346191,
336
+ -23.544864654541016,
337
+ -13.09317398071289,
338
+ -15.712879180908203,
339
+ -14.107978820800781
340
+ ],
341
+ [
342
+ -12.252364158630371,
343
+ -23.77500343322754,
344
+ -13.345958709716797,
345
+ -15.726787567138672,
346
+ -14.758621215820312
347
+ ],
348
+ [
349
+ -12.509203910827637,
350
+ -23.808950424194336,
351
+ -13.481571197509766,
352
+ -15.737911224365234,
353
+ -15.192764282226562
354
+ ],
355
+ [
356
+ -12.599774360656738,
357
+ -23.772066116333008,
358
+ -13.679519653320312,
359
+ -15.748638153076172,
360
+ -15.343185424804688
361
+ ],
362
+ [
363
+ -12.394052505493164,
364
+ -21.864439010620117,
365
+ -13.95608901977539,
366
+ -15.752025604248047,
367
+ -15.120124816894531
368
+ ],
369
+ [
370
+ -11.976120948791504,
371
+ -19.444425582885742,
372
+ -14.517814636230469,
373
+ -15.752971649169922,
374
+ -14.594268798828125
375
+ ],
376
+ [
377
+ -11.447713851928711,
378
+ -16.8143367767334,
379
+ -15.048225402832031,
380
+ -15.74789810180664,
381
+ -13.926589965820312
382
+ ],
383
+ [
384
+ -10.906679153442383,
385
+ -14.829000473022461,
386
+ -15.506927490234375,
387
+ -15.742603302001953,
388
+ -13.268119812011719
389
+ ],
390
+ [
391
+ -10.404325485229492,
392
+ -13.505478858947754,
393
+ -15.936408996582031,
394
+ -15.730693817138672,
395
+ -12.704544067382812
396
+ ],
397
+ [
398
+ -9.970563888549805,
399
+ -13.330162048339844,
400
+ -16.298294067382812,
401
+ -15.709430694580078,
402
+ -12.288200378417969
403
+ ],
404
+ [
405
+ -9.625228881835938,
406
+ -13.156649589538574,
407
+ -16.678871154785156,
408
+ -15.68001937866211,
409
+ -12.039031982421875
410
+ ],
411
+ [
412
+ -9.378881454467773,
413
+ -12.985270500183105,
414
+ -16.82733917236328,
415
+ -15.644695281982422,
416
+ -11.947090148925781
417
+ ],
418
+ [
419
+ -9.237077713012695,
420
+ -12.814705848693848,
421
+ -16.933712005615234,
422
+ -15.604354858398438,
423
+ -11.97735595703125
424
+ ],
425
+ [
426
+ -9.219605445861816,
427
+ -12.639592170715332,
428
+ -17.09145736694336,
429
+ -15.562469482421875,
430
+ -12.083518981933594
431
+ ],
432
+ [
433
+ -9.272050857543945,
434
+ -12.458755493164062,
435
+ -17.22229766845703,
436
+ -15.512016296386719,
437
+ -12.215675354003906
438
+ ],
439
+ [
440
+ -9.34821605682373,
441
+ -12.280047416687012,
442
+ -17.632549285888672,
443
+ -15.454002380371094,
444
+ -12.347694396972656
445
+ ],
446
+ [
447
+ -9.466338157653809,
448
+ -12.103751182556152,
449
+ -18.092105865478516,
450
+ -15.388801574707031,
451
+ -12.460617065429688
452
+ ],
453
+ [
454
+ -9.576655387878418,
455
+ -11.9296875,
456
+ -18.566577911376953,
457
+ -15.316856384277344,
458
+ -12.538230895996094
459
+ ],
460
+ [
461
+ -9.672102928161621,
462
+ -11.75719928741455,
463
+ -19.053852081298828,
464
+ -15.244773864746094,
465
+ -12.576438903808594
466
+ ],
467
+ [
468
+ -9.762673377990723,
469
+ -11.58294677734375,
470
+ -19.546680450439453,
471
+ -15.167579650878906,
472
+ -12.578849792480469
473
+ ],
474
+ [
475
+ -9.836738586425781,
476
+ -11.401403427124023,
477
+ -20.041662216186523,
478
+ -15.084686279296875,
479
+ -12.553596496582031
480
+ ],
481
+ [
482
+ -9.887643814086914,
483
+ -11.22142505645752,
484
+ -20.534870147705078,
485
+ -14.989242553710938,
486
+ -12.513618469238281
487
+ ],
488
+ [
489
+ -9.91237735748291,
490
+ -11.043286323547363,
491
+ -21.018156051635742,
492
+ -14.888675689697266,
493
+ -12.465446472167969
494
+ ],
495
+ [
496
+ -9.911745071411133,
497
+ -10.867600440979004,
498
+ -21.49288558959961,
499
+ -14.783283233642578,
500
+ -12.410560607910156
501
+ ],
502
+ [
503
+ -9.889963150024414,
504
+ -10.693944931030273,
505
+ -21.961076736450195,
506
+ -14.668888092041016,
507
+ -12.348808288574219
508
+ ],
509
+ [
510
+ -9.849316596984863,
511
+ -10.518256187438965,
512
+ -22.42732048034668,
513
+ -14.541534423828125,
514
+ -12.280303955078125
515
+ ],
516
+ [
517
+ -9.798182487487793,
518
+ -10.336202621459961,
519
+ -22.677248001098633,
520
+ -14.413017272949219,
521
+ -12.212852478027344
522
+ ],
523
+ [
524
+ -9.776598930358887,
525
+ -10.157327651977539,
526
+ -22.725187301635742,
527
+ -14.306312561035156,
528
+ -12.155525207519531
529
+ ],
530
+ [
531
+ -9.749408721923828,
532
+ -9.986191749572754,
533
+ -22.670621871948242,
534
+ -14.366008758544922,
535
+ -12.113143920898438
536
+ ]
537
+ ],
538
+ "max": [
539
+ [
540
+ 7.993315696716309,
541
+ 15.595924377441406,
542
+ 3.8615379333496094,
543
+ 5.050041198730469,
544
+ 9.296958923339844
545
+ ],
546
+ [
547
+ 9.509501457214355,
548
+ 15.734752655029297,
549
+ 5.045440673828125,
550
+ 6.075904846191406,
551
+ 11.247817993164062
552
+ ],
553
+ [
554
+ 10.99798583984375,
555
+ 15.867158889770508,
556
+ 6.191249847412109,
557
+ 7.039276123046875,
558
+ 12.986099243164062
559
+ ],
560
+ [
561
+ 12.277175903320312,
562
+ 15.988784790039062,
563
+ 7.163002014160156,
564
+ 7.9049224853515625,
565
+ 14.599105834960938
566
+ ],
567
+ [
568
+ 13.475831031799316,
569
+ 16.099597930908203,
570
+ 8.166980743408203,
571
+ 8.712791442871094,
572
+ 16.11822509765625
573
+ ],
574
+ [
575
+ 14.519265174865723,
576
+ 16.20659637451172,
577
+ 8.992443084716797,
578
+ 9.381217956542969,
579
+ 17.42361831665039
580
+ ],
581
+ [
582
+ 15.373361587524414,
583
+ 16.301746368408203,
584
+ 9.883796691894531,
585
+ 10.047508239746094,
586
+ 18.68704605102539
587
+ ],
588
+ [
589
+ 16.207508087158203,
590
+ 16.376819610595703,
591
+ 10.865242004394531,
592
+ 10.605674743652344,
593
+ 19.78887176513672
594
+ ],
595
+ [
596
+ 16.967586517333984,
597
+ 16.569852828979492,
598
+ 11.957279205322266,
599
+ 11.086662292480469,
600
+ 20.744136810302734
601
+ ],
602
+ [
603
+ 17.800369262695312,
604
+ 16.568387985229492,
605
+ 13.122875213623047,
606
+ 11.534095764160156,
607
+ 21.616317749023438
608
+ ],
609
+ [
610
+ 18.676834106445312,
611
+ 16.54531478881836,
612
+ 14.301319122314453,
613
+ 11.969573974609375,
614
+ 22.469310760498047
615
+ ],
616
+ [
617
+ 19.624465942382812,
618
+ 16.578346252441406,
619
+ 15.44473648071289,
620
+ 12.388801574707031,
621
+ 23.354461669921875
622
+ ],
623
+ [
624
+ 20.44268798828125,
625
+ 16.58903694152832,
626
+ 16.529491424560547,
627
+ 12.816513061523438,
628
+ 24.165267944335938
629
+ ],
630
+ [
631
+ 20.86612319946289,
632
+ 16.59732437133789,
633
+ 17.564517974853516,
634
+ 13.055908203125,
635
+ 24.57372283935547
636
+ ],
637
+ [
638
+ 21.004077911376953,
639
+ 16.584243774414062,
640
+ 18.009857177734375,
641
+ 13.128181457519531,
642
+ 24.72088623046875
643
+ ],
644
+ [
645
+ 20.309001922607422,
646
+ 16.567493438720703,
647
+ 17.074668884277344,
648
+ 12.487907409667969,
649
+ 23.76709747314453
650
+ ],
651
+ [
652
+ 19.379444122314453,
653
+ 16.533279418945312,
654
+ 15.795173645019531,
655
+ 11.659400939941406,
656
+ 22.50641632080078
657
+ ],
658
+ [
659
+ 18.308029174804688,
660
+ 16.967897415161133,
661
+ 14.405532836914062,
662
+ 10.727958679199219,
663
+ 21.08545684814453
664
+ ],
665
+ [
666
+ 17.223220825195312,
667
+ 17.613895416259766,
668
+ 13.0184326171875,
669
+ 9.770835876464844,
670
+ 19.773048400878906
671
+ ],
672
+ [
673
+ 16.24980926513672,
674
+ 18.40761947631836,
675
+ 11.779693603515625,
676
+ 8.840972900390625,
677
+ 18.54909896850586
678
+ ],
679
+ [
680
+ 15.479472160339355,
681
+ 19.251392364501953,
682
+ 10.819320678710938,
683
+ 8.244010925292969,
684
+ 18.007843017578125
685
+ ],
686
+ [
687
+ 14.9583101272583,
688
+ 19.99106216430664,
689
+ 10.175067901611328,
690
+ 8.113815307617188,
691
+ 18.048229217529297
692
+ ],
693
+ [
694
+ 14.681363105773926,
695
+ 20.256694793701172,
696
+ 9.794593811035156,
697
+ 8.073066711425781,
698
+ 18.106014251708984
699
+ ],
700
+ [
701
+ 14.599455833435059,
702
+ 20.393526077270508,
703
+ 9.574729919433594,
704
+ 8.035552978515625,
705
+ 18.05890655517578
706
+ ],
707
+ [
708
+ 14.635716438293457,
709
+ 20.352073669433594,
710
+ 9.389335632324219,
711
+ 7.9495086669921875,
712
+ 17.882099151611328
713
+ ],
714
+ [
715
+ 14.709391593933105,
716
+ 20.155054092407227,
717
+ 9.133682250976562,
718
+ 7.80169677734375,
719
+ 17.600017547607422
720
+ ],
721
+ [
722
+ 14.757954597473145,
723
+ 19.938257217407227,
724
+ 8.783149719238281,
725
+ 7.6837158203125,
726
+ 17.255653381347656
727
+ ],
728
+ [
729
+ 14.74965763092041,
730
+ 19.625282287597656,
731
+ 8.346580505371094,
732
+ 7.7527618408203125,
733
+ 16.899417877197266
734
+ ],
735
+ [
736
+ 14.671334266662598,
737
+ 19.237394332885742,
738
+ 7.841560363769531,
739
+ 7.786308288574219,
740
+ 16.572948455810547
741
+ ],
742
+ [
743
+ 14.529768943786621,
744
+ 18.805919647216797,
745
+ 7.292537689208984,
746
+ 7.7778472900390625,
747
+ 16.304061889648438
748
+ ],
749
+ [
750
+ 14.335711479187012,
751
+ 18.3527889251709,
752
+ 6.725986480712891,
753
+ 7.856925964355469,
754
+ 16.12542724609375
755
+ ],
756
+ [
757
+ 14.103137016296387,
758
+ 17.896825790405273,
759
+ 6.171169281005859,
760
+ 8.011161804199219,
761
+ 16.083892822265625
762
+ ],
763
+ [
764
+ 13.847016334533691,
765
+ 17.452777862548828,
766
+ 6.02276611328125,
767
+ 8.08343505859375,
768
+ 15.98248291015625
769
+ ],
770
+ [
771
+ 13.584250450134277,
772
+ 17.786998748779297,
773
+ 5.902423858642578,
774
+ 8.155136108398438,
775
+ 15.823417663574219
776
+ ],
777
+ [
778
+ 13.3287935256958,
779
+ 18.25564193725586,
780
+ 5.788978576660156,
781
+ 8.144477844238281,
782
+ 15.617019653320312
783
+ ],
784
+ [
785
+ 13.088765144348145,
786
+ 18.722408294677734,
787
+ 5.6762237548828125,
788
+ 8.056053161621094,
789
+ 15.377220153808594
790
+ ],
791
+ [
792
+ 12.867173194885254,
793
+ 19.174299240112305,
794
+ 5.559299468994141,
795
+ 7.899925231933594,
796
+ 15.115005493164062
797
+ ],
798
+ [
799
+ 12.669085502624512,
800
+ 19.61219596862793,
801
+ 5.448406219482422,
802
+ 7.690742492675781,
803
+ 14.884742736816406
804
+ ],
805
+ [
806
+ 12.495116233825684,
807
+ 20.043766021728516,
808
+ 5.309406280517578,
809
+ 7.444129943847656,
810
+ 14.743507385253906
811
+ ],
812
+ [
813
+ 12.340954780578613,
814
+ 20.315631866455078,
815
+ 5.153003692626953,
816
+ 7.175750732421875,
817
+ 14.610939025878906
818
+ ]
819
+ ],
820
+ "mean": [
821
+ [
822
+ -0.12068837881088257,
823
+ -0.863232433795929,
824
+ -2.463894844055176,
825
+ -0.5811113119125366,
826
+ -0.054303523153066635
827
+ ],
828
+ [
829
+ -0.1210804209113121,
830
+ -0.7732222676277161,
831
+ -2.561893939971924,
832
+ -0.5952050089836121,
833
+ -0.05467621982097626
834
+ ],
835
+ [
836
+ -0.12358095496892929,
837
+ -0.6796336770057678,
838
+ -2.662328004837036,
839
+ -0.610009491443634,
840
+ -0.057098157703876495
841
+ ],
842
+ [
843
+ -0.12835223972797394,
844
+ -0.5819740891456604,
845
+ -2.764747381210327,
846
+ -0.6255633234977722,
847
+ -0.061729561537504196
848
+ ],
849
+ [
850
+ -0.13533073663711548,
851
+ -0.47996896505355835,
852
+ -2.868656635284424,
853
+ -0.6417779922485352,
854
+ -0.06851793080568314
855
+ ],
856
+ [
857
+ -0.14433062076568604,
858
+ -0.3737470805644989,
859
+ -2.973475456237793,
860
+ -0.6586251854896545,
861
+ -0.07730522751808167
862
+ ],
863
+ [
864
+ -0.15512436628341675,
865
+ -0.2636300325393677,
866
+ -3.0791096687316895,
867
+ -0.6759749054908752,
868
+ -0.08788718283176422
869
+ ],
870
+ [
871
+ -0.16747336089611053,
872
+ -0.1500636488199234,
873
+ -3.185352325439453,
874
+ -0.6937715411186218,
875
+ -0.10005144774913788
876
+ ],
877
+ [
878
+ -0.18125277757644653,
879
+ -0.03346814215183258,
880
+ -3.2924251556396484,
881
+ -0.7120078206062317,
882
+ -0.11367931962013245
883
+ ],
884
+ [
885
+ -0.19634190201759338,
886
+ 0.08583136647939682,
887
+ -3.4006597995758057,
888
+ -0.7307478785514832,
889
+ -0.12863442301750183
890
+ ],
891
+ [
892
+ -0.21272702515125275,
893
+ 0.20764747262001038,
894
+ -3.510207414627075,
895
+ -0.7500444650650024,
896
+ -0.1448756605386734
897
+ ],
898
+ [
899
+ -0.23038043081760406,
900
+ 0.3317800462245941,
901
+ -3.6214213371276855,
902
+ -0.7699447870254517,
903
+ -0.1623465120792389
904
+ ],
905
+ [
906
+ -0.24929389357566833,
907
+ 0.4581085741519928,
908
+ -3.7341902256011963,
909
+ -0.7904574871063232,
910
+ -0.18102745711803436
911
+ ],
912
+ [
913
+ -0.26949939131736755,
914
+ 0.5865212082862854,
915
+ -3.8487792015075684,
916
+ -0.8115836977958679,
917
+ -0.20095206797122955
918
+ ],
919
+ [
920
+ -0.291023850440979,
921
+ 0.7169389724731445,
922
+ -3.9650769233703613,
923
+ -0.8332812190055847,
924
+ -0.22213584184646606
925
+ ],
926
+ [
927
+ -0.3138790726661682,
928
+ 0.8492667078971863,
929
+ -4.083024024963379,
930
+ -0.8554879426956177,
931
+ -0.24459435045719147
932
+ ],
933
+ [
934
+ -0.3357166051864624,
935
+ 0.9777410626411438,
936
+ -4.199056625366211,
937
+ -0.876157283782959,
938
+ -0.26603955030441284
939
+ ],
940
+ [
941
+ -0.3561028242111206,
942
+ 1.1012417078018188,
943
+ -4.312274932861328,
944
+ -0.8949182033538818,
945
+ -0.2860645651817322
946
+ ],
947
+ [
948
+ -0.3749069571495056,
949
+ 1.2192541360855103,
950
+ -4.422158241271973,
951
+ -0.9116837382316589,
952
+ -0.30455219745635986
953
+ ],
954
+ [
955
+ -0.39216187596321106,
956
+ 1.331728458404541,
957
+ -4.528472900390625,
958
+ -0.9265844225883484,
959
+ -0.32152390480041504
960
+ ],
961
+ [
962
+ -0.40806666016578674,
963
+ 1.439156413078308,
964
+ -4.6311564445495605,
965
+ -0.9397201538085938,
966
+ -0.3371390402317047
967
+ ],
968
+ [
969
+ -0.4228575825691223,
970
+ 1.5424402952194214,
971
+ -4.730632781982422,
972
+ -0.9512105584144592,
973
+ -0.3516060709953308
974
+ ],
975
+ [
976
+ -0.43678832054138184,
977
+ 1.6427767276763916,
978
+ -4.8278679847717285,
979
+ -0.9610954523086548,
980
+ -0.36516085267066956
981
+ ],
982
+ [
983
+ -0.45008641481399536,
984
+ 1.74160635471344,
985
+ -4.924540996551514,
986
+ -0.9693574905395508,
987
+ -0.37799105048179626
988
+ ],
989
+ [
990
+ -0.46289581060409546,
991
+ 1.839351773262024,
992
+ -5.0208940505981445,
993
+ -0.9763206839561462,
994
+ -0.39028388261795044
995
+ ],
996
+ [
997
+ -0.47530800104141235,
998
+ 1.9359067678451538,
999
+ -5.116665363311768,
1000
+ -0.9824869632720947,
1001
+ -0.4021376371383667
1002
+ ],
1003
+ [
1004
+ -0.4874074459075928,
1005
+ 2.0309174060821533,
1006
+ -5.211302280426025,
1007
+ -0.9882522821426392,
1008
+ -0.41364961862564087
1009
+ ],
1010
+ [
1011
+ -0.49923092126846313,
1012
+ 2.124229669570923,
1013
+ -5.304511547088623,
1014
+ -0.9939064979553223,
1015
+ -0.4248891770839691
1016
+ ],
1017
+ [
1018
+ -0.5108239650726318,
1019
+ 2.21563982963562,
1020
+ -5.395938396453857,
1021
+ -0.9994943141937256,
1022
+ -0.43590447306632996
1023
+ ],
1024
+ [
1025
+ -0.5221976041793823,
1026
+ 2.305208683013916,
1027
+ -5.485621452331543,
1028
+ -1.0049833059310913,
1029
+ -0.4467228651046753
1030
+ ],
1031
+ [
1032
+ -0.5333526134490967,
1033
+ 2.392998218536377,
1034
+ -5.573554515838623,
1035
+ -1.010216236114502,
1036
+ -0.4573438763618469
1037
+ ],
1038
+ [
1039
+ -0.5442849397659302,
1040
+ 2.479029417037964,
1041
+ -5.660035133361816,
1042
+ -1.015099287033081,
1043
+ -0.46775612235069275
1044
+ ],
1045
+ [
1046
+ -0.5549908876419067,
1047
+ 2.563371419906616,
1048
+ -5.744904518127441,
1049
+ -1.0195461511611938,
1050
+ -0.47795042395591736
1051
+ ],
1052
+ [
1053
+ -0.5654354095458984,
1054
+ 2.6459028720855713,
1055
+ -5.828359127044678,
1056
+ -1.0235413312911987,
1057
+ -0.48790889978408813
1058
+ ],
1059
+ [
1060
+ -0.5756148099899292,
1061
+ 2.7266008853912354,
1062
+ -5.910398006439209,
1063
+ -1.0271250009536743,
1064
+ -0.4976024925708771
1065
+ ],
1066
+ [
1067
+ -0.5855013132095337,
1068
+ 2.8054022789001465,
1069
+ -5.991056442260742,
1070
+ -1.0303199291229248,
1071
+ -0.507015585899353
1072
+ ],
1073
+ [
1074
+ -0.5950940251350403,
1075
+ 2.8822689056396484,
1076
+ -6.070213794708252,
1077
+ -1.0331199169158936,
1078
+ -0.5161378979682922
1079
+ ],
1080
+ [
1081
+ -0.6043649911880493,
1082
+ 2.957188606262207,
1083
+ -6.147930145263672,
1084
+ -1.0355662107467651,
1085
+ -0.5249584317207336
1086
+ ],
1087
+ [
1088
+ -0.6133200526237488,
1089
+ 3.0302538871765137,
1090
+ -6.224236488342285,
1091
+ -1.0376181602478027,
1092
+ -0.5334475040435791
1093
+ ],
1094
+ [
1095
+ -0.621941328048706,
1096
+ 3.1014368534088135,
1097
+ -6.2991766929626465,
1098
+ -1.0392816066741943,
1099
+ -0.5416200757026672
1100
+ ]
1101
+ ],
1102
+ "std": [
1103
+ [
1104
+ 0.878815770149231,
1105
+ 2.0551509857177734,
1106
+ 1.3525487184524536,
1107
+ 1.3404624462127686,
1108
+ 0.682210385799408
1109
+ ],
1110
+ [
1111
+ 1.0021610260009766,
1112
+ 2.2325143814086914,
1113
+ 1.4937866926193237,
1114
+ 1.396735668182373,
1115
+ 0.8469476103782654
1116
+ ],
1117
+ [
1118
+ 1.1247776746749878,
1119
+ 2.4141740798950195,
1120
+ 1.6349589824676514,
1121
+ 1.4550455808639526,
1122
+ 1.0019152164459229
1123
+ ],
1124
+ [
1125
+ 1.2399582862854004,
1126
+ 2.591198444366455,
1127
+ 1.7712559700012207,
1128
+ 1.5118770599365234,
1129
+ 1.1427077054977417
1130
+ ],
1131
+ [
1132
+ 1.3441530466079712,
1133
+ 2.758420944213867,
1134
+ 1.901028037071228,
1135
+ 1.564879059791565,
1136
+ 1.2674059867858887
1137
+ ],
1138
+ [
1139
+ 1.436180591583252,
1140
+ 2.913604736328125,
1141
+ 2.0241305828094482,
1142
+ 1.6127312183380127,
1143
+ 1.3757930994033813
1144
+ ],
1145
+ [
1146
+ 1.5161898136138916,
1147
+ 3.0562596321105957,
1148
+ 2.140911340713501,
1149
+ 1.6549034118652344,
1150
+ 1.4685333967208862
1151
+ ],
1152
+ [
1153
+ 1.5847207307815552,
1154
+ 3.1867740154266357,
1155
+ 2.251600980758667,
1156
+ 1.6912288665771484,
1157
+ 1.5464941263198853
1158
+ ],
1159
+ [
1160
+ 1.642075777053833,
1161
+ 3.3054697513580322,
1162
+ 2.3560450077056885,
1163
+ 1.7217094898223877,
1164
+ 1.6102159023284912
1165
+ ],
1166
+ [
1167
+ 1.6880522966384888,
1168
+ 3.4122283458709717,
1169
+ 2.453789472579956,
1170
+ 1.7463693618774414,
1171
+ 1.6597177982330322
1172
+ ],
1173
+ [
1174
+ 1.7217460870742798,
1175
+ 3.506645441055298,
1176
+ 2.5440049171447754,
1177
+ 1.765146017074585,
1178
+ 1.694435954093933
1179
+ ],
1180
+ [
1181
+ 1.7417627573013306,
1182
+ 3.588325262069702,
1183
+ 2.6257870197296143,
1184
+ 1.7777814865112305,
1185
+ 1.7132130861282349
1186
+ ],
1187
+ [
1188
+ 1.746433973312378,
1189
+ 3.6573755741119385,
1190
+ 2.698153018951416,
1191
+ 1.7840279340744019,
1192
+ 1.7145755290985107
1193
+ ],
1194
+ [
1195
+ 1.7342557907104492,
1196
+ 3.7143239974975586,
1197
+ 2.7602343559265137,
1198
+ 1.78372323513031,
1199
+ 1.6968727111816406
1200
+ ],
1201
+ [
1202
+ 1.7037781476974487,
1203
+ 3.760134696960449,
1204
+ 2.811431407928467,
1205
+ 1.77681303024292,
1206
+ 1.6583595275878906
1207
+ ],
1208
+ [
1209
+ 1.653418779373169,
1210
+ 3.795818567276001,
1211
+ 2.8515799045562744,
1212
+ 1.7632759809494019,
1213
+ 1.5969622135162354
1214
+ ],
1215
+ [
1216
+ 1.6053049564361572,
1217
+ 3.837040901184082,
1218
+ 2.8924410343170166,
1219
+ 1.7512174844741821,
1220
+ 1.5377693176269531
1221
+ ],
1222
+ [
1223
+ 1.564279317855835,
1224
+ 3.8854193687438965,
1225
+ 2.9360435009002686,
1226
+ 1.7420415878295898,
1227
+ 1.4864442348480225
1228
+ ],
1229
+ [
1230
+ 1.5325902700424194,
1231
+ 3.9401230812072754,
1232
+ 2.9829390048980713,
1233
+ 1.7361329793930054,
1234
+ 1.4456623792648315
1235
+ ],
1236
+ [
1237
+ 1.510165810585022,
1238
+ 3.998504877090454,
1239
+ 3.032761573791504,
1240
+ 1.7332528829574585,
1241
+ 1.4157934188842773
1242
+ ],
1243
+ [
1244
+ 1.4956196546554565,
1245
+ 4.057064056396484,
1246
+ 3.0842440128326416,
1247
+ 1.7327380180358887,
1248
+ 1.3956559896469116
1249
+ ],
1250
+ [
1251
+ 1.486855149269104,
1252
+ 4.11247444152832,
1253
+ 3.1356325149536133,
1254
+ 1.7338474988937378,
1255
+ 1.383198618888855
1256
+ ],
1257
+ [
1258
+ 1.4817383289337158,
1259
+ 4.1620941162109375,
1260
+ 3.1846981048583984,
1261
+ 1.7356361150741577,
1262
+ 1.376141905784607
1263
+ ],
1264
+ [
1265
+ 1.4784791469573975,
1266
+ 4.204065322875977,
1267
+ 3.2289648056030273,
1268
+ 1.737201452255249,
1269
+ 1.372352123260498
1270
+ ],
1271
+ [
1272
+ 1.4758789539337158,
1273
+ 4.238222599029541,
1274
+ 3.26802134513855,
1275
+ 1.7380520105361938,
1276
+ 1.3701958656311035
1277
+ ],
1278
+ [
1279
+ 1.4732064008712769,
1280
+ 4.265491008758545,
1281
+ 3.3026411533355713,
1282
+ 1.73842453956604,
1283
+ 1.3685574531555176
1284
+ ],
1285
+ [
1286
+ 1.469992756843567,
1287
+ 4.2870774269104,
1288
+ 3.333930492401123,
1289
+ 1.738688588142395,
1290
+ 1.3666367530822754
1291
+ ],
1292
+ [
1293
+ 1.4660744667053223,
1294
+ 4.3041181564331055,
1295
+ 3.3627231121063232,
1296
+ 1.739146113395691,
1297
+ 1.3639360666275024
1298
+ ],
1299
+ [
1300
+ 1.4613903760910034,
1301
+ 4.317358493804932,
1302
+ 3.389686346054077,
1303
+ 1.739920973777771,
1304
+ 1.3601622581481934
1305
+ ],
1306
+ [
1307
+ 1.4560065269470215,
1308
+ 4.327398300170898,
1309
+ 3.4150795936584473,
1310
+ 1.740960955619812,
1311
+ 1.3552961349487305
1312
+ ],
1313
+ [
1314
+ 1.4501149654388428,
1315
+ 4.334845542907715,
1316
+ 3.438993453979492,
1317
+ 1.7420713901519775,
1318
+ 1.3494365215301514
1319
+ ],
1320
+ [
1321
+ 1.4439541101455688,
1322
+ 4.340193271636963,
1323
+ 3.461493730545044,
1324
+ 1.7431097030639648,
1325
+ 1.3428497314453125
1326
+ ],
1327
+ [
1328
+ 1.4378174543380737,
1329
+ 4.34408712387085,
1330
+ 3.4825994968414307,
1331
+ 1.7438713312149048,
1332
+ 1.3358668088912964
1333
+ ],
1334
+ [
1335
+ 1.4320443868637085,
1336
+ 4.347140312194824,
1337
+ 3.5023066997528076,
1338
+ 1.744363784790039,
1339
+ 1.328922986984253
1340
+ ],
1341
+ [
1342
+ 1.427033543586731,
1343
+ 4.350010395050049,
1344
+ 3.5207009315490723,
1345
+ 1.7445635795593262,
1346
+ 1.322486162185669
1347
+ ],
1348
+ [
1349
+ 1.423140287399292,
1350
+ 4.35321044921875,
1351
+ 3.537895679473877,
1352
+ 1.7445366382598877,
1353
+ 1.317076325416565
1354
+ ],
1355
+ [
1356
+ 1.4208067655563354,
1357
+ 4.3570990562438965,
1358
+ 3.55405855178833,
1359
+ 1.7443161010742188,
1360
+ 1.3132020235061646
1361
+ ],
1362
+ [
1363
+ 1.4203574657440186,
1364
+ 4.36181640625,
1365
+ 3.569443941116333,
1366
+ 1.7439321279525757,
1367
+ 1.3113353252410889
1368
+ ],
1369
+ [
1370
+ 1.422026515007019,
1371
+ 4.367335319519043,
1372
+ 3.584413528442383,
1373
+ 1.7433629035949707,
1374
+ 1.311856985092163
1375
+ ],
1376
+ [
1377
+ 1.4259403944015503,
1378
+ 4.373359680175781,
1379
+ 3.5992395877838135,
1380
+ 1.7426385879516602,
1381
+ 1.3149858713150024
1382
+ ]
1383
+ ],
1384
+ "q01": [
1385
+ [
1386
+ -3.169426202774048,
1387
+ -5.7859907150268555,
1388
+ -5.854551792144775,
1389
+ -6.979669094085693,
1390
+ -1.9234952926635742
1391
+ ],
1392
+ [
1393
+ -3.356771469116211,
1394
+ -6.437283039093018,
1395
+ -6.265664100646973,
1396
+ -6.986093044281006,
1397
+ -2.3377013206481934
1398
+ ],
1399
+ [
1400
+ -3.5703330039978027,
1401
+ -7.086061000823975,
1402
+ -6.699735641479492,
1403
+ -7.014982223510742,
1404
+ -2.7374649047851562
1405
+ ],
1406
+ [
1407
+ -3.813598871231079,
1408
+ -7.660062789916992,
1409
+ -7.1091203689575195,
1410
+ -7.043764591217041,
1411
+ -3.08852219581604
1412
+ ],
1413
+ [
1414
+ -4.036334991455078,
1415
+ -8.145867347717285,
1416
+ -7.505910396575928,
1417
+ -7.083386421203613,
1418
+ -3.34647274017334
1419
+ ],
1420
+ [
1421
+ -4.216306209564209,
1422
+ -8.591609954833984,
1423
+ -7.882166862487793,
1424
+ -7.10698938369751,
1425
+ -3.587989568710327
1426
+ ],
1427
+ [
1428
+ -4.346757888793945,
1429
+ -8.945881843566895,
1430
+ -8.251632690429688,
1431
+ -7.158184051513672,
1432
+ -3.757476806640625
1433
+ ],
1434
+ [
1435
+ -4.445978164672852,
1436
+ -9.242225646972656,
1437
+ -8.625445365905762,
1438
+ -7.216297149658203,
1439
+ -3.908848524093628
1440
+ ],
1441
+ [
1442
+ -4.542900562286377,
1443
+ -9.482988357543945,
1444
+ -9.022665023803711,
1445
+ -7.264556884765625,
1446
+ -3.9989418983459473
1447
+ ],
1448
+ [
1449
+ -4.587658405303955,
1450
+ -9.58859920501709,
1451
+ -9.410207748413086,
1452
+ -7.312551975250244,
1453
+ -4.09268856048584
1454
+ ],
1455
+ [
1456
+ -4.620514869689941,
1457
+ -9.540068626403809,
1458
+ -9.807907104492188,
1459
+ -7.342296123504639,
1460
+ -4.1196208000183105
1461
+ ],
1462
+ [
1463
+ -4.636707305908203,
1464
+ -9.425933837890625,
1465
+ -10.201700210571289,
1466
+ -7.354674339294434,
1467
+ -4.1502861976623535
1468
+ ],
1469
+ [
1470
+ -4.637109756469727,
1471
+ -9.205801010131836,
1472
+ -10.601075172424316,
1473
+ -7.353361129760742,
1474
+ -4.185482025146484
1475
+ ],
1476
+ [
1477
+ -4.645001411437988,
1478
+ -8.878487586975098,
1479
+ -10.996907234191895,
1480
+ -7.38106632232666,
1481
+ -4.200779438018799
1482
+ ],
1483
+ [
1484
+ -4.66874885559082,
1485
+ -8.462461471557617,
1486
+ -11.384345054626465,
1487
+ -7.402212142944336,
1488
+ -4.227193355560303
1489
+ ],
1490
+ [
1491
+ -4.684452056884766,
1492
+ -7.934430122375488,
1493
+ -11.76822280883789,
1494
+ -7.415781021118164,
1495
+ -4.224337577819824
1496
+ ],
1497
+ [
1498
+ -4.710270404815674,
1499
+ -7.556707859039307,
1500
+ -12.166929244995117,
1501
+ -7.432615756988525,
1502
+ -4.271408557891846
1503
+ ],
1504
+ [
1505
+ -4.7570719718933105,
1506
+ -7.230025291442871,
1507
+ -12.536510467529297,
1508
+ -7.4602508544921875,
1509
+ -4.334036827087402
1510
+ ],
1511
+ [
1512
+ -4.820045471191406,
1513
+ -6.9903788566589355,
1514
+ -12.903583526611328,
1515
+ -7.508196830749512,
1516
+ -4.422112941741943
1517
+ ],
1518
+ [
1519
+ -4.888204097747803,
1520
+ -6.817408561706543,
1521
+ -13.248175621032715,
1522
+ -7.543087005615234,
1523
+ -4.500285625457764
1524
+ ],
1525
+ [
1526
+ -4.921255111694336,
1527
+ -6.684273719787598,
1528
+ -13.578754425048828,
1529
+ -7.572429180145264,
1530
+ -4.571525573730469
1531
+ ],
1532
+ [
1533
+ -4.969132900238037,
1534
+ -6.56002950668335,
1535
+ -13.815960884094238,
1536
+ -7.600739002227783,
1537
+ -4.627060413360596
1538
+ ],
1539
+ [
1540
+ -4.993956565856934,
1541
+ -6.451323986053467,
1542
+ -14.026695251464844,
1543
+ -7.606730937957764,
1544
+ -4.651857852935791
1545
+ ],
1546
+ [
1547
+ -5.019845485687256,
1548
+ -6.344209671020508,
1549
+ -14.196517944335938,
1550
+ -7.619377136230469,
1551
+ -4.7016448974609375
1552
+ ],
1553
+ [
1554
+ -5.040229797363281,
1555
+ -6.23723030090332,
1556
+ -14.32816219329834,
1557
+ -7.651242256164551,
1558
+ -4.698408603668213
1559
+ ],
1560
+ [
1561
+ -5.043574333190918,
1562
+ -6.127115249633789,
1563
+ -14.38829517364502,
1564
+ -7.668945789337158,
1565
+ -4.708347797393799
1566
+ ],
1567
+ [
1568
+ -5.0353169441223145,
1569
+ -6.036600112915039,
1570
+ -14.429230690002441,
1571
+ -7.68011474609375,
1572
+ -4.680667400360107
1573
+ ],
1574
+ [
1575
+ -5.025641918182373,
1576
+ -5.940591812133789,
1577
+ -14.443605422973633,
1578
+ -7.721681594848633,
1579
+ -4.649106502532959
1580
+ ],
1581
+ [
1582
+ -5.002407073974609,
1583
+ -5.85730504989624,
1584
+ -14.492865562438965,
1585
+ -7.748712539672852,
1586
+ -4.619271278381348
1587
+ ],
1588
+ [
1589
+ -4.9947943687438965,
1590
+ -5.790691375732422,
1591
+ -14.55369758605957,
1592
+ -7.782008171081543,
1593
+ -4.579389572143555
1594
+ ],
1595
+ [
1596
+ -4.991220951080322,
1597
+ -5.720966815948486,
1598
+ -14.62660026550293,
1599
+ -7.800819396972656,
1600
+ -4.551361083984375
1601
+ ],
1602
+ [
1603
+ -5.0009613037109375,
1604
+ -5.66758394241333,
1605
+ -14.72558307647705,
1606
+ -7.815313339233398,
1607
+ -4.53309965133667
1608
+ ],
1609
+ [
1610
+ -5.008274078369141,
1611
+ -5.630082607269287,
1612
+ -14.790937423706055,
1613
+ -7.831357002258301,
1614
+ -4.524356842041016
1615
+ ],
1616
+ [
1617
+ -5.019512176513672,
1618
+ -5.589105129241943,
1619
+ -14.847967147827148,
1620
+ -7.845858097076416,
1621
+ -4.517608642578125
1622
+ ],
1623
+ [
1624
+ -5.025378227233887,
1625
+ -5.55802059173584,
1626
+ -14.875432968139648,
1627
+ -7.844654560089111,
1628
+ -4.524436950683594
1629
+ ],
1630
+ [
1631
+ -5.038771629333496,
1632
+ -5.51654577255249,
1633
+ -14.899541854858398,
1634
+ -7.849070072174072,
1635
+ -4.527773380279541
1636
+ ],
1637
+ [
1638
+ -5.045320987701416,
1639
+ -5.479998588562012,
1640
+ -14.8822660446167,
1641
+ -7.848948955535889,
1642
+ -4.528716087341309
1643
+ ],
1644
+ [
1645
+ -5.0605034828186035,
1646
+ -5.464530944824219,
1647
+ -14.842283248901367,
1648
+ -7.858548641204834,
1649
+ -4.532549858093262
1650
+ ],
1651
+ [
1652
+ -5.0731353759765625,
1653
+ -5.427060604095459,
1654
+ -14.819735527038574,
1655
+ -7.84376335144043,
1656
+ -4.542018890380859
1657
+ ],
1658
+ [
1659
+ -5.076274394989014,
1660
+ -5.411924839019775,
1661
+ -14.742575645446777,
1662
+ -7.830232620239258,
1663
+ -4.5496826171875
1664
+ ]
1665
+ ],
1666
+ "q99": [
1667
+ [
1668
+ 3.034430742263794,
1669
+ 8.341423988342285,
1670
+ 0.8864542245864868,
1671
+ 1.5232877731323242,
1672
+ 2.7449443340301514
1673
+ ],
1674
+ [
1675
+ 3.6815030574798584,
1676
+ 8.390363693237305,
1677
+ 1.4646837711334229,
1678
+ 1.9182019233703613,
1679
+ 3.604386806488037
1680
+ ],
1681
+ [
1682
+ 4.283703804016113,
1683
+ 8.495096206665039,
1684
+ 1.9434889554977417,
1685
+ 2.290888547897339,
1686
+ 4.4121832847595215
1687
+ ],
1688
+ [
1689
+ 4.934690475463867,
1690
+ 8.611618995666504,
1691
+ 2.344581127166748,
1692
+ 2.64013934135437,
1693
+ 5.172307014465332
1694
+ ],
1695
+ [
1696
+ 5.568967819213867,
1697
+ 8.782073974609375,
1698
+ 2.69686222076416,
1699
+ 2.923194646835327,
1700
+ 5.847124099731445
1701
+ ],
1702
+ [
1703
+ 6.201913356781006,
1704
+ 8.926441192626953,
1705
+ 3.0372114181518555,
1706
+ 3.1844396591186523,
1707
+ 6.494078159332275
1708
+ ],
1709
+ [
1710
+ 6.7363104820251465,
1711
+ 9.076576232910156,
1712
+ 3.3125510215759277,
1713
+ 3.409879446029663,
1714
+ 7.026559829711914
1715
+ ],
1716
+ [
1717
+ 7.183493137359619,
1718
+ 9.183392524719238,
1719
+ 3.5078797340393066,
1720
+ 3.568737030029297,
1721
+ 7.45363712310791
1722
+ ],
1723
+ [
1724
+ 7.595526218414307,
1725
+ 9.326920509338379,
1726
+ 3.7099227905273438,
1727
+ 3.7095577716827393,
1728
+ 7.802750587463379
1729
+ ],
1730
+ [
1731
+ 7.833020210266113,
1732
+ 9.455001831054688,
1733
+ 3.7586889266967773,
1734
+ 3.792752265930176,
1735
+ 7.945208549499512
1736
+ ],
1737
+ [
1738
+ 7.936974048614502,
1739
+ 9.616866111755371,
1740
+ 3.7662370204925537,
1741
+ 3.7793350219726562,
1742
+ 8.073442459106445
1743
+ ],
1744
+ [
1745
+ 7.90710973739624,
1746
+ 9.807464599609375,
1747
+ 3.6938846111297607,
1748
+ 3.7044174671173096,
1749
+ 7.914216041564941
1750
+ ],
1751
+ [
1752
+ 7.656646728515625,
1753
+ 10.125310897827148,
1754
+ 3.4807932376861572,
1755
+ 3.5564262866973877,
1756
+ 7.623805046081543
1757
+ ],
1758
+ [
1759
+ 7.311696529388428,
1760
+ 10.451910018920898,
1761
+ 3.222640037536621,
1762
+ 3.316584587097168,
1763
+ 7.348727226257324
1764
+ ],
1765
+ [
1766
+ 6.901073455810547,
1767
+ 10.884007453918457,
1768
+ 2.872889280319214,
1769
+ 3.0704421997070312,
1770
+ 7.014062881469727
1771
+ ],
1772
+ [
1773
+ 6.4277753829956055,
1774
+ 11.397649765014648,
1775
+ 2.4394798278808594,
1776
+ 2.795501708984375,
1777
+ 6.5252814292907715
1778
+ ],
1779
+ [
1780
+ 5.998948574066162,
1781
+ 11.910213470458984,
1782
+ 2.0780162811279297,
1783
+ 2.545285224914551,
1784
+ 6.102709770202637
1785
+ ],
1786
+ [
1787
+ 5.66630744934082,
1788
+ 12.402153968811035,
1789
+ 1.726127028465271,
1790
+ 2.362797260284424,
1791
+ 5.743618011474609
1792
+ ],
1793
+ [
1794
+ 5.373406887054443,
1795
+ 12.848034858703613,
1796
+ 1.4500892162322998,
1797
+ 2.204180955886841,
1798
+ 5.443503379821777
1799
+ ],
1800
+ [
1801
+ 5.142198085784912,
1802
+ 13.255261421203613,
1803
+ 1.2161747217178345,
1804
+ 2.105714797973633,
1805
+ 5.224678993225098
1806
+ ],
1807
+ [
1808
+ 4.967401504516602,
1809
+ 13.635493278503418,
1810
+ 1.0833293199539185,
1811
+ 2.0492148399353027,
1812
+ 5.053091049194336
1813
+ ],
1814
+ [
1815
+ 4.8606977462768555,
1816
+ 13.945999145507812,
1817
+ 0.9828124046325684,
1818
+ 1.993155837059021,
1819
+ 4.96391487121582
1820
+ ],
1821
+ [
1822
+ 4.751189708709717,
1823
+ 14.178466796875,
1824
+ 0.9131181240081787,
1825
+ 1.9555848836898804,
1826
+ 4.857875347137451
1827
+ ],
1828
+ [
1829
+ 4.700885772705078,
1830
+ 14.302177429199219,
1831
+ 0.8463717103004456,
1832
+ 1.9047902822494507,
1833
+ 4.813251495361328
1834
+ ],
1835
+ [
1836
+ 4.6503987312316895,
1837
+ 14.373852729797363,
1838
+ 0.774886965751648,
1839
+ 1.8893423080444336,
1840
+ 4.717826843261719
1841
+ ],
1842
+ [
1843
+ 4.619800567626953,
1844
+ 14.354060173034668,
1845
+ 0.7132058143615723,
1846
+ 1.891762614250183,
1847
+ 4.645963191986084
1848
+ ],
1849
+ [
1850
+ 4.588178634643555,
1851
+ 14.257820129394531,
1852
+ 0.6704216003417969,
1853
+ 1.8770904541015625,
1854
+ 4.56899356842041
1855
+ ],
1856
+ [
1857
+ 4.530566692352295,
1858
+ 14.0836181640625,
1859
+ 0.6589398384094238,
1860
+ 1.8612284660339355,
1861
+ 4.49323844909668
1862
+ ],
1863
+ [
1864
+ 4.490339279174805,
1865
+ 13.93363094329834,
1866
+ 0.6540877223014832,
1867
+ 1.856423020362854,
1868
+ 4.430229187011719
1869
+ ],
1870
+ [
1871
+ 4.436838150024414,
1872
+ 13.757160186767578,
1873
+ 0.6735748052597046,
1874
+ 1.8538877964019775,
1875
+ 4.3401947021484375
1876
+ ],
1877
+ [
1878
+ 4.3723015785217285,
1879
+ 13.592428207397461,
1880
+ 0.6837010383605957,
1881
+ 1.8469200134277344,
1882
+ 4.256095886230469
1883
+ ],
1884
+ [
1885
+ 4.316638469696045,
1886
+ 13.446626663208008,
1887
+ 0.69953453540802,
1888
+ 1.8428384065628052,
1889
+ 4.14360237121582
1890
+ ],
1891
+ [
1892
+ 4.236613750457764,
1893
+ 13.32861042022705,
1894
+ 0.7106174230575562,
1895
+ 1.8646126985549927,
1896
+ 4.0411224365234375
1897
+ ],
1898
+ [
1899
+ 4.174753665924072,
1900
+ 13.261812210083008,
1901
+ 0.7214948534965515,
1902
+ 1.8553040027618408,
1903
+ 3.9308769702911377
1904
+ ],
1905
+ [
1906
+ 4.109216213226318,
1907
+ 13.209827423095703,
1908
+ 0.7374883890151978,
1909
+ 1.8696041107177734,
1910
+ 3.862086772918701
1911
+ ],
1912
+ [
1913
+ 4.0572967529296875,
1914
+ 13.195320129394531,
1915
+ 0.7240278720855713,
1916
+ 1.8823773860931396,
1917
+ 3.8067758083343506
1918
+ ],
1919
+ [
1920
+ 4.043878555297852,
1921
+ 13.211860656738281,
1922
+ 0.7156773805618286,
1923
+ 1.8913476467132568,
1924
+ 3.756464719772339
1925
+ ],
1926
+ [
1927
+ 4.041746616363525,
1928
+ 13.218280792236328,
1929
+ 0.7123450040817261,
1930
+ 1.906519889831543,
1931
+ 3.752542495727539
1932
+ ],
1933
+ [
1934
+ 4.047434329986572,
1935
+ 13.226268768310547,
1936
+ 0.6898765563964844,
1937
+ 1.9174792766571045,
1938
+ 3.764265298843384
1939
+ ],
1940
+ [
1941
+ 4.053526878356934,
1942
+ 13.239219665527344,
1943
+ 0.6852889060974121,
1944
+ 1.9345320463180542,
1945
+ 3.7975656986236572
1946
+ ]
1947
+ ],
1948
+ "count": [
1949
+ 115923,
1950
+ 115923,
1951
+ 115923,
1952
+ 115923,
1953
+ 115923,
1954
+ 115923,
1955
+ 115923,
1956
+ 115923,
1957
+ 115923,
1958
+ 115923,
1959
+ 115923,
1960
+ 115923,
1961
+ 115923,
1962
+ 115923,
1963
+ 115923,
1964
+ 115923,
1965
+ 115923,
1966
+ 115923,
1967
+ 115923,
1968
+ 115923,
1969
+ 115923,
1970
+ 115923,
1971
+ 115923,
1972
+ 115923,
1973
+ 115923,
1974
+ 115923,
1975
+ 115923,
1976
+ 115923,
1977
+ 115923,
1978
+ 115923,
1979
+ 115923,
1980
+ 115923,
1981
+ 115923,
1982
+ 115923,
1983
+ 115923,
1984
+ 115923,
1985
+ 115923,
1986
+ 115923,
1987
+ 115923,
1988
+ 115923
1989
+ ]
1990
+ }
1991
+ }
1992
+ },
1993
+ "modality_config": {
1994
+ "state": {
1995
+ "modality_keys": [
1996
+ "single_arm",
1997
+ "gripper"
1998
+ ]
1999
+ },
2000
+ "action": {
2001
+ "modality_keys": [
2002
+ "single_arm",
2003
+ "gripper"
2004
+ ],
2005
+ "action_configs": [
2006
+ {
2007
+ "rep": "RELATIVE",
2008
+ "type": "NON_EEF",
2009
+ "format": "DEFAULT",
2010
+ "state_key": null
2011
+ },
2012
+ {
2013
+ "rep": "ABSOLUTE",
2014
+ "type": "NON_EEF",
2015
+ "format": "DEFAULT",
2016
+ "state_key": null
2017
+ }
2018
+ ],
2019
+ "delta_indices": [
2020
+ 0,
2021
+ 1,
2022
+ 2,
2023
+ 3,
2024
+ 4,
2025
+ 5,
2026
+ 6,
2027
+ 7,
2028
+ 8,
2029
+ 9,
2030
+ 10,
2031
+ 11,
2032
+ 12,
2033
+ 13,
2034
+ 14,
2035
+ 15,
2036
+ 16,
2037
+ 17,
2038
+ 18,
2039
+ 19,
2040
+ 20,
2041
+ 21,
2042
+ 22,
2043
+ 23,
2044
+ 24,
2045
+ 25,
2046
+ 26,
2047
+ 27,
2048
+ 28,
2049
+ 29,
2050
+ 30,
2051
+ 31,
2052
+ 32,
2053
+ 33,
2054
+ 34,
2055
+ 35,
2056
+ 36,
2057
+ 37,
2058
+ 38,
2059
+ 39
2060
+ ]
2061
+ },
2062
+ "video": {
2063
+ "modality_keys": [
2064
+ "front",
2065
+ "wrist"
2066
+ ],
2067
+ "delta_indices": [
2068
+ 0
2069
+ ]
2070
+ }
2071
+ }
2072
+ },
2073
+ "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
2074
+ },
2075
+ {
2076
+ "registry_name": "groot_n1_7_vlm_encode_v1",
2077
+ "config": {
2078
+ "model_name": "nvidia/Cosmos-Reason2-2B",
2079
+ "image_crop_size": [
2080
+ 230,
2081
+ 230
2082
+ ],
2083
+ "image_target_size": [
2084
+ 256,
2085
+ 256
2086
+ ],
2087
+ "shortest_image_edge": null,
2088
+ "crop_fraction": null,
2089
+ "use_albumentations": false,
2090
+ "letter_box_transform": false,
2091
+ "device": "cuda"
2092
+ }
2093
+ },
2094
+ {
2095
+ "registry_name": "device_processor",
2096
+ "config": {
2097
+ "device": "cuda",
2098
+ "float_dtype": null
2099
+ }
2100
+ }
2101
+ ]
2102
+ }
policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb2f88cb19697fea8dfe263e205309820e07ad81ad61e24205d82a34fd3a685b
3
+ size 3920