Instructions to use autotrust/JEV-27B-VL with libraries, inference providers, notebooks, and local apps. Follow these links to get started.

Libraries

How to use autotrust/JEV-27B-VL with Transformers:

# Use a pipeline as a high-level helper
from transformers import pipeline

pipe = pipeline("image-text-to-text", model="autotrust/JEV-27B-VL")
messages = [
    {
        "role": "user",
        "content": [
            {"type": "image", "url": "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/p-blog/candy.JPG"},
            {"type": "text", "text": "What animal is on the candy?"}
        ]
    },
]
pipe(text=messages)

# pip install -U transformers accelerate
# Load model directly
from transformers import AutoProcessor, AutoModelForMultimodalLM

processor = AutoProcessor.from_pretrained("autotrust/JEV-27B-VL")
model = AutoModelForMultimodalLM.from_pretrained("autotrust/JEV-27B-VL", device_map="auto")
messages = [
    {
        "role": "user",
        "content": [
            {"type": "image", "url": "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/p-blog/candy.JPG"},
            {"type": "text", "text": "What animal is on the candy?"}
        ]
    },
]
inputs = processor.apply_chat_template(
	messages,
	add_generation_prompt=True,
	tokenize=True,
	return_dict=True,
	return_tensors="pt",
).to(model.device)

outputs = model.generate(**inputs, max_new_tokens=256)
print(processor.decode(outputs[0][inputs["input_ids"].shape[-1]:]))

Notebooks
Google Colab
Kaggle
Local Apps Settings

vLLM

How to use autotrust/JEV-27B-VL with vLLM:

Install from pip and serve model

# Install vLLM from pip:
pip install vllm
# Start the vLLM server:
vllm serve "autotrust/JEV-27B-VL"
# Call the server using curl (OpenAI-compatible API):
curl -X POST "http://localhost:8000/v1/chat/completions" \
	-H "Content-Type: application/json" \
	--data '{
		"model": "autotrust/JEV-27B-VL",
		"messages": [
			{
				"role": "user",
				"content": [
					{
						"type": "text",
						"text": "Describe this image in one sentence."
					},
					{
						"type": "image_url",
						"image_url": {
							"url": "https://cdn.britannica.com/61/93061-050-99147DCE/Statue-of-Liberty-Island-New-York-Bay.jpg"
						}
					}
				]
			}
		]
	}'

Use Docker

docker model run hf.co/autotrust/JEV-27B-VL

SGLang

How to use autotrust/JEV-27B-VL with SGLang:

Install from pip and serve model

# Install SGLang from pip:
pip install sglang
# Start the SGLang server:
python3 -m sglang.launch_server \
    --model-path "autotrust/JEV-27B-VL" \
    --host 0.0.0.0 \
    --port 30000
# Call the server using curl (OpenAI-compatible API):
curl -X POST "http://localhost:30000/v1/chat/completions" \
	-H "Content-Type: application/json" \
	--data '{
		"model": "autotrust/JEV-27B-VL",
		"messages": [
			{
				"role": "user",
				"content": [
					{
						"type": "text",
						"text": "Describe this image in one sentence."
					},
					{
						"type": "image_url",
						"image_url": {
							"url": "https://cdn.britannica.com/61/93061-050-99147DCE/Statue-of-Liberty-Island-New-York-Bay.jpg"
						}
					}
				]
			}
		]
	}'

Use Docker images

docker run --gpus all \
    --shm-size 32g \
    -p 30000:30000 \
    -v ~/.cache/huggingface:/root/.cache/huggingface \
    --env "HF_TOKEN=<secret>" \
    --ipc=host \
    lmsysorg/sglang:latest \
    python3 -m sglang.launch_server \
        --model-path "autotrust/JEV-27B-VL" \
        --host 0.0.0.0 \
        --port 30000
# Call the server using curl (OpenAI-compatible API):
curl -X POST "http://localhost:30000/v1/chat/completions" \
	-H "Content-Type: application/json" \
	--data '{
		"model": "autotrust/JEV-27B-VL",
		"messages": [
			{
				"role": "user",
				"content": [
					{
						"type": "text",
						"text": "Describe this image in one sentence."
					},
					{
						"type": "image_url",
						"image_url": {
							"url": "https://cdn.britannica.com/61/93061-050-99147DCE/Statue-of-Liberty-Island-New-York-Bay.jpg"
						}
					}
				]
			}
		]
	}'

Docker Model Runner
How to use autotrust/JEV-27B-VL with Docker Model Runner:
```
docker model run hf.co/autotrust/JEV-27B-VL
```

cloudyu commited on 25 days ago

Commit

f34b598

verified ·

1 Parent(s): d835ee0

Add robot-arm and computer-use demos (videos, results) to the model card

Browse files

Files changed (7) hide show

.gitattributes +1 -0
README.md +37 -0
reports/demos/arm_direct.json +1010 -0
reports/demos/arm_servo.json +1210 -0
reports/demos/cu_results.json +0 -0
videos/computer_use_shop.mp4 +3 -0
videos/robot_arm_pick_place.mp4 +0 -0

.gitattributes CHANGED Viewed

@@ -41,3 +41,4 @@ videos/vl2.mp4 filter=lfs diff=lfs merge=lfs -text
 videos/vl3.mp4 filter=lfs diff=lfs merge=lfs -text
 videos/vl4.mp4 filter=lfs diff=lfs merge=lfs -text
 videos/vl5.mp4 filter=lfs diff=lfs merge=lfs -text

 videos/vl3.mp4 filter=lfs diff=lfs merge=lfs -text
 videos/vl4.mp4 filter=lfs diff=lfs merge=lfs -text
 videos/vl5.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/computer_use_shop.mp4 filter=lfs diff=lfs merge=lfs -text

README.md CHANGED Viewed

@@ -32,7 +32,44 @@ tags:
 | **System 1** (`POST /v1/decide`) | typed decisions: yes/no · pick one of 2–256 options · rate 0–5, over text and images; prompts up to 256K tokens | a calibrated probability for every option, in one forward pass |
 | **System 2** (`autotrust/JEV-27B-VL`) | the unmodified Qwen3.8-27B, optionally thinking step by step, with image input | text / reasoning |
 ## New (1 October 2026)

 | **System 1** (`POST /v1/decide`) | typed decisions: yes/no · pick one of 2–256 options · rate 0–5, over text and images; prompts up to 256K tokens | a calibrated probability for every option, in one forward pass |
 | **System 2** (`autotrust/JEV-27B-VL`) | the unmodified Qwen3.8-27B, optionally thinking step by step, with image input | text / reasoning |
+## New (3 October 2026): robot arm and computer use
+Every step below is **one System 1 decision**: a camera image or a screenshot in, a probability for every action out, in
+a single forward pass.
+**Robot arm: pick and place from a camera image.** At every step System 1 looks at the top camera image and answers two
+questions: is the target left or right of the gripper, and above or below it? The arm moves accordingly and halves its
+step whenever an answer flips. It grasps the cube, carries it and drops it in the tray (MuJoCo simulation).
+<video src="https://huggingface.co/autotrust/JEV-27B-VL/resolve/main/videos/robot_arm_pick_place.mp4" controls autoplay loop muted playsinline width="100%"></video>
+**75% of 20 random scenes completed, the best of the JEV family.** Every cube it grasped ended in the tray (15 of 15);
+every miss was a grasp 3.0–3.7 cm off target. About 240 ms per decision.
+**Computer use: screenshot → which element to click.** A real browser (headless Chromium). Every clickable element gets a
+numbered box; System 1 picks the next click (or "the task is complete"), the browser clicks it, and the loop repeats.
+<video src="https://huggingface.co/autotrust/JEV-27B-VL/resolve/main/videos/computer_use_shop.mp4" controls autoplay loop muted playsinline width="100%"></video>
+**95% of 60 random multi-step tasks completed** (shop, settings, mail; 3–7 clicks each), about 0.26 s per click. The
+colour swatches carry no text, so that click is decided from the screenshot alone.
+Same scenes and tasks for every model in the family:
+| | **JEV-27B-VL** | [JEV-9B](https://huggingface.co/autotrust/JEV-9B) | [GEV-26B-Decide](https://huggingface.co/autotrust/GEV-26B-Decide) |
+|---|---:|---:|---:|
+| robot arm: pick and place (20 scenes) | **75%** | 50% | 40% |
+| computer use: numbered boxes + element text (60 tasks) | 95% | 95% | 95% |
+| computer use: numbered boxes only | 10% | 37% | 15% |
+| time per robot-arm decision | 239 ms | 163 ms | 61 ms |
+* Use System 1 for simple visual questions inside a control loop. Asked to pick one of 8 motor commands directly, it
+  completed 0 of 10 scenes.
+* For computer use, give it the element text (as an accessibility tree would). With the numbered boxes alone it often
+  declares the task complete too early.
+Demo code: [JEV-9B `vl/demos/`](https://huggingface.co/autotrust/JEV-9B/tree/main/vl/demos) (set `JEV_URL` to this
+server). Per-episode results: [`reports/demos/`](reports/demos).
 ## New (1 October 2026)

reports/demos/arm_direct.json ADDED Viewed

	@@ -0,0 +1,1010 @@

+{
+ "summary": {
+  "episodes": 10,
+  "success": 0.0,
+  "mean_steps_success": 0.0,
+  "median_ms": 241.5473461151123
+ },
+ "episodes": [
+  {
+   "seed": 1,
+   "target": "red",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "move left"
+   ],
+   "latency_s": [
+    0.5465235710144043,
+    0.29125261306762695,
+    0.2881636619567871,
+    0.2692582607269287,
+    0.2747461795806885,
+    0.2842271327972412,
+    0.2762432098388672,
+    0.23435711860656738,
+    0.23452997207641602,
+    0.28467321395874023,
+    0.27292323112487793,
+    0.2402803897857666,
+    0.23403167724609375,
+    0.27547121047973633,
+    0.2696516513824463,
+    0.22839808464050293,
+    0.22961115837097168,
+    0.24076390266418457,
+    0.24272394180297852,
+    0.28244733810424805,
+    0.27378201484680176,
+    0.23898720741271973,
+    0.23742938041687012,
+    0.24451446533203125,
+    0.23756647109985352,
+    0.23955154418945312,
+    0.23740530014038086,
+    0.23716354370117188,
+    0.23382019996643066,
+    0.23597431182861328,
+    0.1944117546081543,
+    0.22146153450012207,
+    0.23282933235168457,
+    0.23952984809875488,
+    0.23467350006103516,
+    0.23630452156066895,
+    0.23877382278442383,
+    0.23946428298950195,
+    0.22081828117370605,
+    0.23537278175354004,
+    0.23962807655334473,
+    0.23770761489868164,
+    0.23147916793823242,
+    0.23033833503723145,
+    0.24378204345703125
+   ]
+  },
+  {
+   "seed": 2,
+   "target": "blue",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move right",
+    "move forward",
+    "lower the gripper",
+    "close the gripper",
+    "move right",
+    "move forward",
+    "lower the gripper",
+    "close the gripper",
+    "move right",
+    "move forward",
+    "lower the gripper",
+    "close the gripper",
+    "move right",
+    "move forward",
+    "lower the gripper",
+    "raise the gripper",
+    "move right",
+    "move forward",
+    "lower the gripper",
+    "raise the gripper",
+    "move right",
+    "move forward",
+    "lower the gripper",
+    "move right",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper"
+   ],
+   "latency_s": [
+    0.2870321273803711,
+    0.2787761688232422,
+    0.2788064479827881,
+    0.2702362537384033,
+    0.26982808113098145,
+    0.27735185623168945,
+    0.2853858470916748,
+    0.2705118656158447,
+    0.23555874824523926,
+    0.28197193145751953,
+    0.2804563045501709,
+    0.26349973678588867,
+    0.2363286018371582,
+    0.2796969413757324,
+    0.281766414642334,
+    0.2722630500793457,
+    0.23239707946777344,
+    0.279146671295166,
+    0.2872464656829834,
+    0.27580857276916504,
+    0.23177886009216309,
+    0.28492093086242676,
+    0.2832679748535156,
+    0.2802774906158447,
+    0.2883319854736328,
+    0.23915386199951172,
+    0.2713441848754883,
+    0.23895263671875,
+    0.24089264869689941,
+    0.2364063262939453,
+    0.24120378494262695,
+    0.23400163650512695,
+    0.2377915382385254,
+    0.23610830307006836,
+    0.23677945137023926,
+    0.23151421546936035,
+    0.2286694049835205,
+    0.2345123291015625,
+    0.23899102210998535,
+    0.23392724990844727,
+    0.23500919342041016,
+    0.23219585418701172,
+    0.23260068893432617,
+    0.23156523704528809,
+    0.23522567749023438
+   ]
+  },
+  {
+   "seed": 3,
+   "target": "green",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move right",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "move right",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "move right",
+    "move backward",
+    "lower the gripper",
+    "move right",
+    "move left",
+    "move right",
+    "move backward",
+    "move right",
+    "move left",
+    "move backward",
+    "move right",
+    "move backward",
+    "move left",
+    "move right",
+    "move left",
+    "move right",
+    "move left",
+    "move right",
+    "move left",
+    "move right",
+    "move left",
+    "move right",
+    "move left",
+    "move right",
+    "move left",
+    "move right",
+    "move left",
+    "move right",
+    "move left"
+   ],
+   "latency_s": [
+    0.28562092781066895,
+    0.2841062545776367,
+    0.2797849178314209,
+    0.2722291946411133,
+    0.3161311149597168,
+    0.2881340980529785,
+    0.27125072479248047,
+    0.23635292053222656,
+    0.23967504501342773,
+    0.28902244567871094,
+    0.2850944995880127,
+    0.27196669578552246,
+    0.24857068061828613,
+    0.29210853576660156,
+    0.2875785827636719,
+    0.2765049934387207,
+    0.2385573387145996,
+    0.2872323989868164,
+    0.28845953941345215,
+    0.2761220932006836,
+    0.2809000015258789,
+    0.23037314414978027,
+    0.23906302452087402,
+    0.2784268856048584,
+    0.284595251083374,
+    0.23707914352416992,
+    0.2823171615600586,
+    0.28789734840393066,
+    0.33109354972839355,
+    0.2850942611694336,
+    0.23507261276245117,
+    0.23152661323547363,
+    0.23713016510009766,
+    0.23818707466125488,
+    0.23136401176452637,
+    0.23255538940429688,
+    0.2347409725189209,
+    0.23645615577697754,
+    0.23610997200012207,
+    0.23816466331481934,
+    0.24078774452209473,
+    0.24048519134521484,
+    0.24514389038085938,
+    0.23390603065490723,
+    0.24410009384155273
+   ]
+  },
+  {
+   "seed": 4,
+   "target": "blue",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move left",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "move backward",
+    "move backward",
+    "move backward",
+    "lower the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "move left",
+    "move right"
+   ],
+   "latency_s": [
+    0.29031944274902344,
+    0.2898898124694824,
+    0.29154109954833984,
+    0.28093695640563965,
+    0.28350281715393066,
+    0.28705739974975586,
+    0.27712559700012207,
+    0.23791956901550293,
+    0.23450899124145508,
+    0.276792049407959,
+    0.2669544219970703,
+    0.23292064666748047,
+    0.23935508728027344,
+    0.28841543197631836,
+    0.2691957950592041,
+    0.23574137687683105,
+    0.23688673973083496,
+    0.28789639472961426,
+    0.26380395889282227,
+    0.23441123962402344,
+    0.24164485931396484,
+    0.2824993133544922,
+    0.2662043571472168,
+    0.23309993743896484,
+    0.23200511932373047,
+    0.278705358505249,
+    0.26687145233154297,
+    0.22743678092956543,
+    0.23605823516845703,
+    0.2794461250305176,
+    0.2723822593688965,
+    0.22898602485656738,
+    0.23245644569396973,
+    0.28887081146240234,
+    0.27972888946533203,
+    0.27207398414611816,
+    0.23291897773742676,
+    0.28131556510925293,
+    0.27712011337280273,
+    0.31998777389526367,
+    0.2733936309814453,
+    0.2819793224334717,
+    0.23803496360778809,
+    0.2754368782043457,
+    0.291121244430542
+   ]
+  },
+  {
+   "seed": 5,
+   "target": "red",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "lower the gripper",
+    "raise the gripper",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper"
+   ],
+   "latency_s": [
+    0.2953481674194336,
+    0.2844095230102539,
+    0.27271151542663574,
+    0.27542901039123535,
+    0.2710285186767578,
+    0.2874159812927246,
+    0.2757267951965332,
+    0.242523193359375,
+    0.2453920841217041,
+    0.28856992721557617,
+    0.2765922546386719,
+    0.24204754829406738,
+    0.2834138870239258,
+    0.2832624912261963,
+    0.2363736629486084,
+    0.23906731605529785,
+    0.23587727546691895,
+    0.2980499267578125,
+    0.24221372604370117,
+    0.23707365989685059,
+    0.2368309497833252,
+    0.23942804336547852,
+    0.23429560661315918,
+    0.23604893684387207,
+    0.23204755783081055,
+    0.23845267295837402,
+    0.23387789726257324,
+    0.24042844772338867,
+    0.24123787879943848,
+    0.24083828926086426,
+    0.23852968215942383,
+    0.2406013011932373,
+    0.23816156387329102,
+    0.23865318298339844,
+    0.24462413787841797,
+    0.24277806282043457,
+    0.2391817569732666,
+    0.24939513206481934,
+    0.2437300682067871,
+    0.23581409454345703,
+    0.2453920841217041,
+    0.2441272735595703,
+    0.24707436561584473,
+    0.1865706443786621,
+    0.24466633796691895
+   ]
+  },
+  {
+   "seed": 6,
+   "target": "green",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move right",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move forward"
+   ],
+   "latency_s": [
+    0.292083740234375,
+    0.28336620330810547,
+    0.2804837226867676,
+    0.28480029106140137,
+    0.29018259048461914,
+    0.2870934009552002,
+    0.2906210422515869,
+    0.2810213565826416,
+    0.24658584594726562,
+    0.23783588409423828,
+    0.23308348655700684,
+    0.24329113960266113,
+    0.2430708408355713,
+    0.23659038543701172,
+    0.24689364433288574,
+    0.24191737174987793,
+    0.23443341255187988,
+    0.2415473461151123,
+    0.24110007286071777,
+    0.2445363998413086,
+    0.23441123962402344,
+    0.2365274429321289,
+    0.2777438163757324,
+    0.23640942573547363,
+    0.2347414493560791,
+    0.29257702827453613,
+    0.2263658046722412,
+    0.22739219665527344,
+    0.2303295135498047,
+    0.23340106010437012,
+    0.2364954948425293,
+    0.18728995323181152,
+    0.2349848747253418,
+    0.23128581047058105,
+    0.23861956596374512,
+    0.23604154586791992,
+    0.21083378791809082,
+    0.23687314987182617,
+    0.23777389526367188,
+    0.23434925079345703,
+    0.23664259910583496,
+    0.23799538612365723,
+    0.2372744083404541,
+    0.23256516456604004,
+    0.23400163650512695
+   ]
+  },
+  {
+   "seed": 7,
+   "target": "red",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move right",
+    "move left",
+    "move backward",
+    "move right",
+    "lower the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "close the gripper",
+    "move left",
+    "lower the gripper",
+    "move right",
+    "lower the gripper",
+    "move left",
+    "move right",
+    "move backward",
+    "close the gripper",
+    "move left",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "move right",
+    "move left",
+    "move right",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "move right",
+    "lower the gripper",
+    "move right",
+    "move left",
+    "move right",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left"
+   ],
+   "latency_s": [
+    0.2880997657775879,
+    0.2785642147064209,
+    0.23685216903686523,
+    0.27443766593933105,
+    0.2848191261291504,
+    0.27324438095092773,
+    0.2767777442932129,
+    0.23877239227294922,
+    0.2726173400878906,
+    0.2791576385498047,
+    0.2770087718963623,
+    0.2764396667480469,
+    0.2708761692047119,
+    0.277895450592041,
+    0.274097204208374,
+    0.23049235343933105,
+    0.2807443141937256,
+    0.22983026504516602,
+    0.27471089363098145,
+    0.23110246658325195,
+    0.2669646739959717,
+    0.23110032081604004,
+    0.23242568969726562,
+    0.2326362133026123,
+    0.23262429237365723,
+    0.2321767807006836,
+    0.26951122283935547,
+    0.23443078994750977,
+    0.23403096199035645,
+    0.24965143203735352,
+    0.23410272598266602,
+    0.23537230491638184,
+    0.2389669418334961,
+    0.24177050590515137,
+    0.2815823554992676,
+    0.23755669593811035,
+    0.21677374839782715,
+    0.2374742031097412,
+    0.23488426208496094,
+    0.23409271240234375,
+    0.2712547779083252,
+    0.232194185256958,
+    0.22605228424072266,
+    0.2285606861114502,
+    0.22825026512145996
+   ]
+  },
+  {
+   "seed": 8,
+   "target": "blue",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move left",
+    "move backward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper"
+   ],
+   "latency_s": [
+    0.27863001823425293,
+    0.2759873867034912,
+    0.28765249252319336,
+    0.26866769790649414,
+    0.30841612815856934,
+    0.26781320571899414,
+    0.28348636627197266,
+    0.23648333549499512,
+    0.23515844345092773,
+    0.23575377464294434,
+    0.23705387115478516,
+    0.23718500137329102,
+    0.2405102252960205,
+    0.23902678489685059,
+    0.23838257789611816,
+    0.24390244483947754,
+    0.23649907112121582,
+    0.23466849327087402,
+    0.2339191436767578,
+    0.23608922958374023,
+    0.23846912384033203,
+    0.24358010292053223,
+    0.24227190017700195,
+    0.2337186336517334,
+    0.24414825439453125,
+    0.24177050590515137,
+    0.23650455474853516,
+    0.23586177825927734,
+    0.24486088752746582,
+    0.24143171310424805,
+    0.2363584041595459,
+    0.2403123378753662,
+    0.24358510971069336,
+    0.2430126667022705,
+    0.23662590980529785,
+    0.23903942108154297,
+    0.23821592330932617,
+    0.23360300064086914,
+    0.23931527137756348,
+    0.24098634719848633,
+    0.23636531829833984,
+    0.23927831649780273,
+    0.23723936080932617,
+    0.23823189735412598,
+    0.23790955543518066
+   ]
+  },
+  {
+   "seed": 9,
+   "target": "blue",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move left",
+    "lower the gripper",
+    "move left",
+    "lower the gripper",
+    "move left",
+    "close the gripper",
+    "raise the gripper",
+    "lower the gripper",
+    "close the gripper"
+   ],
+   "latency_s": [
+    0.29259443283081055,
+    0.28983497619628906,
+    0.2722930908203125,
+    0.277679443359375,
+    0.2713637351989746,
+    0.28861570358276367,
+    0.27747583389282227,
+    0.23905563354492188,
+    0.2314143180847168,
+    0.28133058547973633,
+    0.281646728515625,
+    0.24357843399047852,
+    0.2360219955444336,
+    0.2847917079925537,
+    0.2730448246002197,
+    0.23462343215942383,
+    0.23840045928955078,
+    0.2818601131439209,
+    0.2731752395629883,
+    0.23711395263671875,
+    0.24342679977416992,
+    0.28099656105041504,
+    0.271848201751709,
+    0.2349247932434082,
+    0.23590087890625,
+    0.284712553024292,
+    0.27830934524536133,
+    0.23815059661865234,
+    0.23901653289794922,
+    0.286144495010376,
+    0.28038454055786133,
+    0.23590326309204102,
+    0.2338731288909912,
+    0.289994478225708,
+    0.2768263816833496,
+    0.2328650951385498,
+    0.23801064491271973,
+    0.2846701145172119,
+    0.27326345443725586,
+    0.28119778633117676,
+    0.26974034309387207,
+    0.2827591896057129,
+    0.24319076538085938,
+    0.2720050811767578,
+    0.23229122161865234
+   ]
+  },
+  {
+   "seed": 10,
+   "target": "green",
+   "success": false,
+   "steps": 45,
+   "actions": [
+    "move left",
+    "move left",
+    "move forward",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper",
+    "close the gripper",
+    "raise the gripper",
+    "move right",
+    "move left",
+    "lower the gripper"
+   ],
+   "latency_s": [
+    0.23342418670654297,
+    0.2814757823944092,
+    0.282421350479126,
+    0.2880513668060303,
+    0.27293944358825684,
+    0.26849794387817383,
+    0.2744295597076416,
+    0.2781045436859131,
+    0.24041748046875,
+    0.28775858879089355,
+    0.2716813087463379,
+    0.23644113540649414,
+    0.24571943283081055,
+    0.2381126880645752,
+    0.23472070693969727,
+    0.24199151992797852,
+    0.24541449546813965,
+    0.23944544792175293,
+    0.25171661376953125,
+    0.247222900390625,
+    0.24878191947937012,
+    0.24979472160339355,
+    0.24349069595336914,
+    0.24411487579345703,
+    0.2418043613433838,
+    0.258211612701416,
+    0.238433837890625,
+    0.23214101791381836,
+    0.23824858665466309,
+    0.23017239570617676,
+    0.23933649063110352,
+    0.23297667503356934,
+    0.24222111701965332,
+    0.2473289966583252,
+    0.2425994873046875,
+    0.23350310325622559,
+    0.23539233207702637,
+    0.24098730087280273,
+    0.23964428901672363,
+    0.25516343116760254,
+    0.2344346046447754,
+    0.23618340492248535,
+    0.23165059089660645,
+    0.24009084701538086,
+    0.22825860977172852
+   ]
+  }
+ ]
+}

reports/demos/arm_servo.json ADDED Viewed

	@@ -0,0 +1,1210 @@

+{
+ "summary": {
+  "episodes": 20,
+  "success": 0.75,
+  "grasped": 0.75,
+  "mean_decisions": 48.9,
+  "median_ms": 238.8293743133545,
+  "seconds": 306.0013120174408
+ },
+ "episodes": [
+  {
+   "seed": 1,
+   "target": "red",
+   "grasped": true,
+   "success": true,
+   "decisions": 30,
+   "latency_s": [
+    0.5320818424224854,
+    0.20949220657348633,
+    0.2714684009552002,
+    0.23998355865478516,
+    0.2710714340209961,
+    0.23546242713928223,
+    0.2670269012451172,
+    0.23020505905151367,
+    0.28667736053466797,
+    0.22938108444213867,
+    0.27087855339050293,
+    0.22780776023864746,
+    0.2831075191497803,
+    0.23887157440185547,
+    0.27947068214416504,
+    0.23201799392700195,
+    0.2680397033691406,
+    0.23401427268981934,
+    0.26558470726013184,
+    0.22940778732299805,
+    0.2684345245361328,
+    0.2285292148590088,
+    0.26273441314697266,
+    0.24120521545410156,
+    0.2840285301208496,
+    0.23009657859802246,
+    0.26729345321655273,
+    0.23480820655822754,
+    0.2849123477935791,
+    0.2355494499206543
+   ],
+   "err_cube_cm": 2.6,
+   "err_tray_cm": 1.3
+  },
+  {
+   "seed": 2,
+   "target": "blue",
+   "grasped": false,
+   "success": false,
+   "decisions": 90,
+   "latency_s": [
+    0.2619819641113281,
+    0.23057985305786133,
+    0.2593245506286621,
+    0.23078060150146484,
+    0.26151275634765625,
+    0.23924469947814941,
+    0.26508235931396484,
+    0.23782801628112793,
+    0.2728567123413086,
+    0.23665595054626465,
+    0.27269673347473145,
+    0.24079608917236328,
+    0.29164552688598633,
+    0.23221254348754883,
+    0.266385555267334,
+    0.23720932006835938,
+    0.27223753929138184,
+    0.2379450798034668,
+    0.23364520072937012,
+    0.2350478172302246,
+    0.2637817859649658,
+    0.23411321640014648,
+    0.2680087089538574,
+    0.23442625999450684,
+    0.2657320499420166,
+    0.23614048957824707,
+    0.2697715759277344,
+    0.2620573043823242,
+    0.279327392578125,
+    0.23486971855163574,
+    0.2692713737487793,
+    0.23746657371520996,
+    0.2675597667694092,
+    0.24302077293395996,
+    0.2807307243347168,
+    0.23919320106506348,
+    0.24102091789245605,
+    0.24065256118774414,
+    0.2295396327972412,
+    0.23898816108703613,
+    0.2335362434387207,
+    0.23504137992858887,
+    0.23195719718933105,
+    0.23430252075195312,
+    0.23256993293762207,
+    0.2380542755126953,
+    0.23365545272827148,
+    0.23189449310302734,
+    0.22956418991088867,
+    0.23171114921569824,
+    0.23671174049377441,
+    0.23226642608642578,
+    0.23588228225708008,
+    0.2426285743713379,
+    0.23720884323120117,
+    0.23328518867492676,
+    0.23819279670715332,
+    0.23760390281677246,
+    0.23505020141601562,
+    0.23447966575622559,
+    0.2344648838043213,
+    0.23332571983337402,
+    0.2362654209136963,
+    0.23570919036865234,
+    0.23318910598754883,
+    0.2391343116760254,
+    0.23089885711669922,
+    0.23854470252990723,
+    0.23572826385498047,
+    0.2331554889678955,
+    0.23369526863098145,
+    0.23659753799438477,
+    0.2325756549835205,
+    0.23767805099487305,
+    0.2348330020904541,
+    0.23160099983215332,
+    0.23444533348083496,
+    0.24338269233703613,
+    0.23794889450073242,
+    0.2345731258392334,
+    0.23592829704284668,
+    0.23892641067504883,
+    0.23984885215759277,
+    0.23497700691223145,
+    0.23498296737670898,
+    0.23817658424377441,
+    0.22969794273376465,
+    0.23007607460021973,
+    0.23587846755981445,
+    0.23630356788635254
+   ],
+   "err_cube_cm": 3.7,
+   "err_tray_cm": 53.2
+  },
+  {
+   "seed": 3,
+   "target": "green",
+   "grasped": false,
+   "success": false,
+   "decisions": 90,
+   "latency_s": [
+    0.25597238540649414,
+    0.24208879470825195,
+    0.27517056465148926,
+    0.23553252220153809,
+    0.27108168601989746,
+    0.23630571365356445,
+    0.25275492668151855,
+    0.2369377613067627,
+    0.27500271797180176,
+    0.23895859718322754,
+    0.2747676372528076,
+    0.23268961906433105,
+    0.28133201599121094,
+    0.2449631690979004,
+    0.277224063873291,
+    0.23733758926391602,
+    0.28231334686279297,
+    0.23532700538635254,
+    0.23516845703125,
+    0.23670482635498047,
+    0.2709805965423584,
+    0.23502039909362793,
+    0.2696094512939453,
+    0.2414720058441162,
+    0.2822265625,
+    0.24405241012573242,
+    0.267348051071167,
+    0.23354434967041016,
+    0.2712581157684326,
+    0.2308516502380371,
+    0.2666809558868408,
+    0.23571348190307617,
+    0.2668752670288086,
+    0.23204612731933594,
+    0.264984130859375,
+    0.2302384376525879,
+    0.23581576347351074,
+    0.23240137100219727,
+    0.23035216331481934,
+    0.2725362777709961,
+    0.23855137825012207,
+    0.237227201461792,
+    0.2317190170288086,
+    0.23358702659606934,
+    0.23210811614990234,
+    0.23249316215515137,
+    0.2298274040222168,
+    0.23554539680480957,
+    0.2367844581604004,
+    0.22678327560424805,
+    0.23322153091430664,
+    0.23169732093811035,
+    0.23577642440795898,
+    0.22853779792785645,
+    0.24256372451782227,
+    0.23594284057617188,
+    0.24152469635009766,
+    0.23648905754089355,
+    0.23373007774353027,
+    0.23489809036254883,
+    0.20795106887817383,
+    0.22933530807495117,
+    0.2217569351196289,
+    0.2258906364440918,
+    0.23641133308410645,
+    0.23588871955871582,
+    0.2336137294769287,
+    0.22950100898742676,
+    0.2370157241821289,
+    0.23807597160339355,
+    0.23541736602783203,
+    0.23122906684875488,
+    0.2353835105895996,
+    0.23666119575500488,
+    0.23610711097717285,
+    0.23270082473754883,
+    0.23073935508728027,
+    0.23838472366333008,
+    0.23318791389465332,
+    0.23364019393920898,
+    0.22924256324768066,
+    0.2359757423400879,
+    0.23830080032348633,
+    0.2320852279663086,
+    0.23383545875549316,
+    0.23522377014160156,
+    0.23691320419311523,
+    0.23233485221862793,
+    0.23897600173950195,
+    0.23644423484802246
+   ],
+   "err_cube_cm": 3.4,
+   "err_tray_cm": 67.8
+  },
+  {
+   "seed": 4,
+   "target": "blue",
+   "grasped": false,
+   "success": false,
+   "decisions": 90,
+   "latency_s": [
+    0.2546212673187256,
+    0.23571228981018066,
+    0.2795116901397705,
+    0.23322820663452148,
+    0.2697155475616455,
+    0.23070740699768066,
+    0.26237010955810547,
+    0.22982525825500488,
+    0.26444053649902344,
+    0.2344503402709961,
+    0.27528905868530273,
+    0.2457435131072998,
+    0.27850961685180664,
+    0.24643635749816895,
+    0.26618409156799316,
+    0.2324514389038086,
+    0.26999974250793457,
+    0.23286056518554688,
+    0.2311408519744873,
+    0.2339799404144287,
+    0.265836238861084,
+    0.23165011405944824,
+    0.26986074447631836,
+    0.229461669921875,
+    0.267505407333374,
+    0.23593544960021973,
+    0.27031660079956055,
+    0.23897504806518555,
+    0.2677135467529297,
+    0.23931622505187988,
+    0.2736966609954834,
+    0.2393321990966797,
+    0.2732367515563965,
+    0.23843932151794434,
+    0.31836533546447754,
+    0.23012661933898926,
+    0.26336002349853516,
+    0.23323440551757812,
+    0.23331403732299805,
+    0.23453021049499512,
+    0.2325751781463623,
+    0.23517584800720215,
+    0.23159003257751465,
+    0.229217529296875,
+    0.2297987937927246,
+    0.23467803001403809,
+    0.23288607597351074,
+    0.23421955108642578,
+    0.2301185131072998,
+    0.23235750198364258,
+    0.23702144622802734,
+    0.23644304275512695,
+    0.23724842071533203,
+    0.23903918266296387,
+    0.23975515365600586,
+    0.24276375770568848,
+    0.2388782501220703,
+    0.24405574798583984,
+    0.24274659156799316,
+    0.2409517765045166,
+    0.24225807189941406,
+    0.2389240264892578,
+    0.2339315414428711,
+    0.23484396934509277,
+    0.23733949661254883,
+    0.27397608757019043,
+    0.23360848426818848,
+    0.24111366271972656,
+    0.23310518264770508,
+    0.239837646484375,
+    0.23236989974975586,
+    0.2330460548400879,
+    0.22909879684448242,
+    0.23349761962890625,
+    0.22852754592895508,
+    0.2379305362701416,
+    0.23280549049377441,
+    0.2325119972229004,
+    0.2307724952697754,
+    0.23284029960632324,
+    0.2296292781829834,
+    0.23382163047790527,
+    0.23471832275390625,
+    0.23098397254943848,
+    0.23444843292236328,
+    0.235581636428833,
+    0.23549461364746094,
+    0.22995519638061523,
+    0.23093748092651367,
+    0.23111438751220703
+   ],
+   "err_cube_cm": 3.3,
+   "err_tray_cm": 25.5
+  },
+  {
+   "seed": 5,
+   "target": "red",
+   "grasped": true,
+   "success": true,
+   "decisions": 34,
+   "latency_s": [
+    0.2587254047393799,
+    0.23537135124206543,
+    0.26569700241088867,
+    0.23482918739318848,
+    0.27038121223449707,
+    0.23302435874938965,
+    0.26809144020080566,
+    0.22771954536437988,
+    0.2752504348754883,
+    0.2347252368927002,
+    0.2783987522125244,
+    0.23635220527648926,
+    0.28574490547180176,
+    0.23688435554504395,
+    0.280318021774292,
+    0.2341756820678711,
+    0.26711153984069824,
+    0.2333221435546875,
+    0.26323461532592773,
+    0.2354564666748047,
+    0.26993727684020996,
+    0.23912310600280762,
+    0.2736780643463135,
+    0.23785614967346191,
+    0.26581454277038574,
+    0.23473358154296875,
+    0.2776925563812256,
+    0.23793363571166992,
+    0.2819390296936035,
+    0.23580336570739746,
+    0.27706480026245117,
+    0.23750066757202148,
+    0.23936152458190918,
+    0.2361602783203125
+   ],
+   "err_cube_cm": 2.6,
+   "err_tray_cm": 1.8
+  },
+  {
+   "seed": 6,
+   "target": "green",
+   "grasped": true,
+   "success": true,
+   "decisions": 26,
+   "latency_s": [
+    0.26727890968322754,
+    0.23224210739135742,
+    0.30498576164245605,
+    0.2406468391418457,
+    0.2755424976348877,
+    0.23505043983459473,
+    0.2730712890625,
+    0.23932385444641113,
+    0.27917957305908203,
+    0.22993731498718262,
+    0.26965975761413574,
+    0.23861050605773926,
+    0.2733280658721924,
+    0.2397005558013916,
+    0.2682340145111084,
+    0.24187254905700684,
+    0.27227234840393066,
+    0.22327494621276855,
+    0.26667141914367676,
+    0.23354697227478027,
+    0.28304243087768555,
+    0.23621821403503418,
+    0.2760481834411621,
+    0.2375330924987793,
+    0.2834157943725586,
+    0.2346324920654297
+   ],
+   "err_cube_cm": 2.8,
+   "err_tray_cm": 1.0
+  },
+  {
+   "seed": 7,
+   "target": "red",
+   "grasped": true,
+   "success": true,
+   "decisions": 34,
+   "latency_s": [
+    0.25863027572631836,
+    0.23556184768676758,
+    0.2707383632659912,
+    0.23835396766662598,
+    0.26772069931030273,
+    0.23278284072875977,
+    0.26122379302978516,
+    0.23530197143554688,
+    0.29219484329223633,
+    0.2331526279449463,
+    0.26889991760253906,
+    0.23251104354858398,
+    0.228193998336792,
+    0.23224854469299316,
+    0.26630330085754395,
+    0.2323141098022461,
+    0.2396717071533203,
+    0.2814319133758545,
+    0.2800319194793701,
+    0.23811602592468262,
+    0.2688319683074951,
+    0.2355337142944336,
+    0.31495022773742676,
+    0.2261674404144287,
+    0.2620556354522705,
+    0.23508930206298828,
+    0.2712216377258301,
+    0.23824024200439453,
+    0.27686405181884766,
+    0.23628950119018555,
+    0.27073121070861816,
+    0.23850679397583008,
+    0.2822604179382324,
+    0.2339944839477539
+   ],
+   "err_cube_cm": 1.5,
+   "err_tray_cm": 0.8
+  },
+  {
+   "seed": 8,
+   "target": "blue",
+   "grasped": true,
+   "success": true,
+   "decisions": 40,
+   "latency_s": [
+    0.243011474609375,
+    0.2389838695526123,
+    0.2615680694580078,
+    0.2351531982421875,
+    0.27243614196777344,
+    0.24330902099609375,
+    0.28568387031555176,
+    0.2401115894317627,
+    0.2806096076965332,
+    0.23841214179992676,
+    0.2882101535797119,
+    0.2301938533782959,
+    0.31842732429504395,
+    0.24097895622253418,
+    0.2706177234649658,
+    0.2409496307373047,
+    0.2788054943084717,
+    0.23739218711853027,
+    0.2762794494628906,
+    0.23958086967468262,
+    0.2646942138671875,
+    0.23535466194152832,
+    0.2732381820678711,
+    0.2417922019958496,
+    0.27837038040161133,
+    0.23644208908081055,
+    0.27930593490600586,
+    0.28270769119262695,
+    0.27247190475463867,
+    0.24109435081481934,
+    0.2870063781738281,
+    0.24135303497314453,
+    0.2946052551269531,
+    0.24059557914733887,
+    0.285717248916626,
+    0.24036812782287598,
+    0.28012871742248535,
+    0.23958516120910645,
+    0.23903942108154297,
+    0.23909330368041992
+   ],
+   "err_cube_cm": 1.6,
+   "err_tray_cm": 2.5
+  },
+  {
+   "seed": 9,
+   "target": "blue",
+   "grasped": true,
+   "success": true,
+   "decisions": 46,
+   "latency_s": [
+    0.2599818706512451,
+    0.23945927619934082,
+    0.26710057258605957,
+    0.23239445686340332,
+    0.26471543312072754,
+    0.23413515090942383,
+    0.2743337154388428,
+    0.2267603874206543,
+    0.26274657249450684,
+    0.23026061058044434,
+    0.27348804473876953,
+    0.22933387756347656,
+    0.2671947479248047,
+    0.228318452835083,
+    0.2619001865386963,
+    0.22553658485412598,
+    0.28184056282043457,
+    0.23336434364318848,
+    0.267392635345459,
+    0.23134064674377441,
+    0.2742493152618408,
+    0.2306520938873291,
+    0.26703619956970215,
+    0.23032093048095703,
+    0.3173947334289551,
+    0.23403120040893555,
+    0.2687087059020996,
+    0.23921966552734375,
+    0.2725038528442383,
+    0.23128223419189453,
+    0.26625919342041016,
+    0.2372903823852539,
+    0.26792073249816895,
+    0.24115562438964844,
+    0.27399539947509766,
+    0.23141837120056152,
+    0.2771434783935547,
+    0.23519444465637207,
+    0.274216890335083,
+    0.23912858963012695,
+    0.283524751663208,
+    0.23603367805480957,
+    0.2702147960662842,
+    0.23082923889160156,
+    0.285388708114624,
+    0.23626375198364258
+   ],
+   "err_cube_cm": 2.7,
+   "err_tray_cm": 2.3
+  },
+  {
+   "seed": 10,
+   "target": "green",
+   "grasped": true,
+   "success": true,
+   "decisions": 34,
+   "latency_s": [
+    0.3219316005706787,
+    0.2312173843383789,
+    0.2648599147796631,
+    0.20609116554260254,
+    0.26895570755004883,
+    0.22861719131469727,
+    0.28238701820373535,
+    0.23672032356262207,
+    0.2675821781158447,
+    0.23984074592590332,
+    0.2868313789367676,
+    0.23675847053527832,
+    0.23305296897888184,
+    0.21683120727539062,
+    0.2292313575744629,
+    0.2129361629486084,
+    0.2832474708557129,
+    0.2383742332458496,
+    0.30022406578063965,
+    0.23743104934692383,
+    0.2727837562561035,
+    0.2300407886505127,
+    0.2756989002227783,
+    0.23592209815979004,
+    0.2685997486114502,
+    0.23870253562927246,
+    0.2802116870880127,
+    0.2396101951599121,
+    0.27451062202453613,
+    0.23966121673583984,
+    0.283611536026001,
+    0.24082446098327637,
+    0.2868680953979492,
+    0.24274849891662598
+   ],
+   "err_cube_cm": 2.4,
+   "err_tray_cm": 0.7
+  },
+  {
+   "seed": 11,
+   "target": "green",
+   "grasped": true,
+   "success": true,
+   "decisions": 34,
+   "latency_s": [
+    0.2771148681640625,
+    0.24000167846679688,
+    0.27275586128234863,
+    0.24059820175170898,
+    0.2711830139160156,
+    0.23389339447021484,
+    0.267453670501709,
+    0.23647403717041016,
+    0.271320104598999,
+    0.2361147403717041,
+    0.26576828956604004,
+    0.23604488372802734,
+    0.2702934741973877,
+    0.23875856399536133,
+    0.28131842613220215,
+    0.23575663566589355,
+    0.27739620208740234,
+    0.24033784866333008,
+    0.2705230712890625,
+    0.23411822319030762,
+    0.26817989349365234,
+    0.23327350616455078,
+    0.2701115608215332,
+    0.23642206192016602,
+    0.2698342800140381,
+    0.23557591438293457,
+    0.27663493156433105,
+    0.24278759956359863,
+    0.2699570655822754,
+    0.24150967597961426,
+    0.2841930389404297,
+    0.23621582984924316,
+    0.2793395519256592,
+    0.23490095138549805
+   ],
+   "err_cube_cm": 2.7,
+   "err_tray_cm": 1.9
+  },
+  {
+   "seed": 12,
+   "target": "blue",
+   "grasped": true,
+   "success": true,
+   "decisions": 38,
+   "latency_s": [
+    0.2740166187286377,
+    0.23397064208984375,
+    0.27132558822631836,
+    0.23745942115783691,
+    0.281618595123291,
+    0.23807239532470703,
+    0.27938032150268555,
+    0.24971818923950195,
+    0.2744007110595703,
+    0.24856281280517578,
+    0.2760486602783203,
+    0.24772047996520996,
+    0.28202199935913086,
+    0.23532557487487793,
+    0.2790367603302002,
+    0.2388293743133545,
+    0.2787046432495117,
+    0.23874855041503906,
+    0.28340959548950195,
+    0.2369225025177002,
+    0.27033138275146484,
+    0.23882603645324707,
+    0.2339308261871338,
+    0.23363041877746582,
+    0.2560451030731201,
+    0.2793698310852051,
+    0.2701125144958496,
+    0.2348170280456543,
+    0.2690107822418213,
+    0.2261648178100586,
+    0.2627725601196289,
+    0.23906755447387695,
+    0.2790336608886719,
+    0.23285794258117676,
+    0.27945375442504883,
+    0.23813390731811523,
+    0.2804708480834961,
+    0.2330639362335205
+   ],
+   "err_cube_cm": 1.8,
+   "err_tray_cm": 1.6
+  },
+  {
+   "seed": 13,
+   "target": "red",
+   "grasped": true,
+   "success": true,
+   "decisions": 42,
+   "latency_s": [
+    0.27730441093444824,
+    0.2479720115661621,
+    0.2752244472503662,
+    0.23876953125,
+    0.27300357818603516,
+    0.2348623275756836,
+    0.2704160213470459,
+    0.2324678897857666,
+    0.26679515838623047,
+    0.23167085647583008,
+    0.26361751556396484,
+    0.23303461074829102,
+    0.2900519371032715,
+    0.2379448413848877,
+    0.2778356075286865,
+    0.24080777168273926,
+    0.28323841094970703,
+    0.23642921447753906,
+    0.28624820709228516,
+    0.23902606964111328,
+    0.2915799617767334,
+    0.2417750358581543,
+    0.29189562797546387,
+    0.2379014492034912,
+    0.2322707176208496,
+    0.23624157905578613,
+    0.270068883895874,
+    0.23817753791809082,
+    0.27390313148498535,
+    0.24268651008605957,
+    0.273073673248291,
+    0.2383263111114502,
+    0.2763655185699463,
+    0.23670387268066406,
+    0.27031946182250977,
+    0.23231101036071777,
+    0.2860550880432129,
+    0.24100065231323242,
+    0.28432798385620117,
+    0.2326819896697998,
+    0.27845001220703125,
+    0.23266315460205078
+   ],
+   "err_cube_cm": 2.5,
+   "err_tray_cm": 2.4
+  },
+  {
+   "seed": 14,
+   "target": "green",
+   "grasped": true,
+   "success": true,
+   "decisions": 28,
+   "latency_s": [
+    0.2704324722290039,
+    0.22897982597351074,
+    0.2679448127746582,
+    0.2325897216796875,
+    0.2683570384979248,
+    0.2376234531402588,
+    0.28018665313720703,
+    0.24469470977783203,
+    0.26927781105041504,
+    0.23987293243408203,
+    0.28389620780944824,
+    0.242997407913208,
+    0.2851247787475586,
+    0.2426300048828125,
+    0.26732563972473145,
+    0.23868656158447266,
+    0.27039551734924316,
+    0.24519681930541992,
+    0.2713503837585449,
+    0.23146605491638184,
+    0.27340173721313477,
+    0.23453283309936523,
+    0.2775142192840576,
+    0.23695778846740723,
+    0.2677583694458008,
+    0.23354101181030273,
+    0.275435209274292,
+    0.23509526252746582
+   ],
+   "err_cube_cm": 2.8,
+   "err_tray_cm": 1.9
+  },
+  {
+   "seed": 15,
+   "target": "green",
+   "grasped": true,
+   "success": true,
+   "decisions": 40,
+   "latency_s": [
+    0.273669958114624,
+    0.23105144500732422,
+    0.27928781509399414,
+    0.2347409725189209,
+    0.2879824638366699,
+    0.23726439476013184,
+    0.27448368072509766,
+    0.27814197540283203,
+    0.27979350090026855,
+    0.23521137237548828,
+    0.281466007232666,
+    0.23761510848999023,
+    0.28150224685668945,
+    0.23323774337768555,
+    0.28600645065307617,
+    0.23757505416870117,
+    0.2772948741912842,
+    0.2638976573944092,
+    0.23817038536071777,
+    0.2339334487915039,
+    0.26923704147338867,
+    0.23668479919433594,
+    0.2833433151245117,
+    0.24571490287780762,
+    0.2745363712310791,
+    0.28182244300842285,
+    0.26616859436035156,
+    0.22817254066467285,
+    0.26833176612854004,
+    0.23540711402893066,
+    0.2672445774078369,
+    0.23216915130615234,
+    0.277829647064209,
+    0.23422765731811523,
+    0.2793242931365967,
+    0.24290060997009277,
+    0.2830214500427246,
+    0.23436903953552246,
+    0.27496910095214844,
+    0.23446059226989746
+   ],
+   "err_cube_cm": 0.2,
+   "err_tray_cm": 4.0
+  },
+  {
+   "seed": 16,
+   "target": "green",
+   "grasped": false,
+   "success": false,
+   "decisions": 86,
+   "latency_s": [
+    0.279327392578125,
+    0.23582887649536133,
+    0.27512645721435547,
+    0.2509441375732422,
+    0.27697205543518066,
+    0.23960137367248535,
+    0.2849287986755371,
+    0.2451474666595459,
+    0.2914104461669922,
+    0.2523379325866699,
+    0.2854940891265869,
+    0.24796533584594727,
+    0.2958643436431885,
+    0.2432241439819336,
+    0.2453911304473877,
+    0.24511408805847168,
+    0.28183770179748535,
+    0.23995757102966309,
+    0.27834463119506836,
+    0.23411965370178223,
+    0.3016233444213867,
+    0.23186159133911133,
+    0.2729156017303467,
+    0.23462891578674316,
+    0.2893376350402832,
+    0.19039344787597656,
+    0.2771596908569336,
+    0.2335364818572998,
+    0.2822437286376953,
+    0.24466967582702637,
+    0.24364423751831055,
+    0.2472529411315918,
+    0.26530027389526367,
+    0.29061007499694824,
+    0.26865077018737793,
+    0.2903773784637451,
+    0.22855353355407715,
+    0.22852587699890137,
+    0.23571276664733887,
+    0.2683079242706299,
+    0.24043726921081543,
+    0.23909306526184082,
+    0.2342531681060791,
+    0.2405838966369629,
+    0.22993874549865723,
+    0.23918843269348145,
+    0.23799729347229004,
+    0.23961949348449707,
+    0.23291587829589844,
+    0.23498129844665527,
+    0.2267286777496338,
+    0.22781729698181152,
+    0.23050546646118164,
+    0.2321016788482666,
+    0.23386502265930176,
+    0.2279975414276123,
+    0.2322065830230713,
+    0.22890424728393555,
+    0.2349088191986084,
+    0.23550748825073242,
+    0.2806823253631592,
+    0.23201608657836914,
+    0.23579859733581543,
+    0.23862719535827637,
+    0.2343900203704834,
+    0.23583316802978516,
+    0.22984004020690918,
+    0.23202800750732422,
+    0.23056483268737793,
+    0.2351078987121582,
+    0.23357343673706055,
+    0.23076891899108887,
+    0.23307371139526367,
+    0.24030017852783203,
+    0.23565149307250977,
+    0.24123167991638184,
+    0.23875999450683594,
+    0.2321152687072754,
+    0.23678088188171387,
+    0.22941255569458008,
+    0.23542237281799316,
+    0.23580074310302734,
+    0.2292768955230713,
+    0.23795485496520996,
+    0.24280929565429688,
+    0.23818731307983398
+   ],
+   "err_cube_cm": 3.0,
+   "err_tray_cm": 24.5
+  },
+  {
+   "seed": 17,
+   "target": "red",
+   "grasped": true,
+   "success": true,
+   "decisions": 42,
+   "latency_s": [
+    0.2798776626586914,
+    0.24187612533569336,
+    0.2757701873779297,
+    0.2310323715209961,
+    0.283797025680542,
+    0.23450112342834473,
+    0.27794384956359863,
+    0.23764300346374512,
+    0.28213000297546387,
+    0.23874878883361816,
+    0.27991175651550293,
+    0.23295855522155762,
+    0.27882981300354004,
+    0.23672032356262207,
+    0.2805919647216797,
+    0.23592638969421387,
+    0.2317359447479248,
+    0.23409676551818848,
+    0.2736670970916748,
+    0.2429368495941162,
+    0.27535438537597656,
+    0.23505949974060059,
+    0.26874852180480957,
+    0.23242497444152832,
+    0.2670173645019531,
+    0.23422646522521973,
+    0.2707056999206543,
+    0.2315967082977295,
+    0.3244929313659668,
+    0.23082184791564941,
+    0.2753782272338867,
+    0.2365403175354004,
+    0.28582096099853516,
+    0.24353623390197754,
+    0.2776458263397217,
+    0.2443397045135498,
+    0.2907702922821045,
+    0.24119257926940918,
+    0.24076056480407715,
+    0.24793553352355957,
+    0.29013538360595703,
+    0.23616552352905273
+   ],
+   "err_cube_cm": 2.1,
+   "err_tray_cm": 2.0
+  },
+  {
+   "seed": 18,
+   "target": "red",
+   "grasped": true,
+   "success": true,
+   "decisions": 40,
+   "latency_s": [
+    0.27823591232299805,
+    0.2424616813659668,
+    0.274505615234375,
+    0.25118422508239746,
+    0.29270195960998535,
+    0.24706101417541504,
+    0.277179479598999,
+    0.23891520500183105,
+    0.2831885814666748,
+    0.2421712875366211,
+    0.2872030735015869,
+    0.2376573085784912,
+    0.2432258129119873,
+    0.2370467185974121,
+    0.28063464164733887,
+    0.2367992401123047,
+    0.26854753494262695,
+    0.23803234100341797,
+    0.27230191230773926,
+    0.2300889492034912,
+    0.26381683349609375,
+    0.2371206283569336,
+    0.26904869079589844,
+    0.23400497436523438,
+    0.2711620330810547,
+    0.23135089874267578,
+    0.2655811309814453,
+    0.23050689697265625,
+    0.2741739749908447,
+    0.23725008964538574,
+    0.27266502380371094,
+    0.24144339561462402,
+    0.2707042694091797,
+    0.23386120796203613,
+    0.27371883392333984,
+    0.23051095008850098,
+    0.2773711681365967,
+    0.23718619346618652,
+    0.2751779556274414,
+    0.23399639129638672
+   ],
+   "err_cube_cm": 2.4,
+   "err_tray_cm": 2.7
+  },
+  {
+   "seed": 19,
+   "target": "green",
+   "grasped": false,
+   "success": false,
+   "decisions": 88,
+   "latency_s": [
+    0.2657146453857422,
+    0.2322864532470703,
+    0.2741200923919678,
+    0.2339792251586914,
+    0.26914334297180176,
+    0.23159003257751465,
+    0.27107906341552734,
+    0.23375487327575684,
+    0.2815086841583252,
+    0.2368454933166504,
+    0.2660963535308838,
+    0.2330336570739746,
+    0.2769596576690674,
+    0.23779535293579102,
+    0.28369712829589844,
+    0.23670458793640137,
+    0.23920893669128418,
+    0.23754000663757324,
+    0.27233266830444336,
+    0.23483800888061523,
+    0.27988243103027344,
+    0.2397899627685547,
+    0.27244997024536133,
+    0.2423243522644043,
+    0.27783918380737305,
+    0.24052977561950684,
+    0.28471851348876953,
+    0.23893332481384277,
+    0.26753997802734375,
+    0.23218369483947754,
+    0.23509430885314941,
+    0.23547840118408203,
+    0.22923493385314941,
+    0.23447561264038086,
+    0.2353839874267578,
+    0.2561156749725342,
+    0.2321634292602539,
+    0.23657798767089844,
+    0.22931575775146484,
+    0.23275065422058105,
+    0.23891472816467285,
+    0.2335529327392578,
+    0.2395627498626709,
+    0.23969650268554688,
+    0.23868775367736816,
+    0.23359131813049316,
+    0.23327374458312988,
+    0.23232650756835938,
+    0.23721861839294434,
+    0.2350635528564453,
+    0.22870826721191406,
+    0.23267555236816406,
+    0.23476600646972656,
+    0.234893798828125,
+    0.23798680305480957,
+    0.23515796661376953,
+    0.23813509941101074,
+    0.1981515884399414,
+    0.2221052646636963,
+    0.23544597625732422,
+    0.23637604713439941,
+    0.23698663711547852,
+    0.23409128189086914,
+    0.2717132568359375,
+    0.25109267234802246,
+    0.23499512672424316,
+    0.23773765563964844,
+    0.22279095649719238,
+    0.23517441749572754,
+    0.22811317443847656,
+    0.23580241203308105,
+    0.23416447639465332,
+    0.23222041130065918,
+    0.23606252670288086,
+    0.2309703826904297,
+    0.23213577270507812,
+    0.23343539237976074,
+    0.23342490196228027,
+    0.22976446151733398,
+    0.23419189453125,
+    0.23593711853027344,
+    0.23585724830627441,
+    0.2326185703277588,
+    0.22808575630187988,
+    0.2335343360900879,
+    0.23168468475341797,
+    0.23324131965637207,
+    0.23496007919311523
+   ],
+   "err_cube_cm": 3.0,
+   "err_tray_cm": 29.2
+  },
+  {
+   "seed": 20,
+   "target": "red",
+   "grasped": true,
+   "success": true,
+   "decisions": 26,
+   "latency_s": [
+    0.26746535301208496,
+    0.22765588760375977,
+    0.2623581886291504,
+    0.2276625633239746,
+    0.26218438148498535,
+    0.23450350761413574,
+    0.2650718688964844,
+    0.22908854484558105,
+    0.2781548500061035,
+    0.23160004615783691,
+    0.2771642208099365,
+    0.23597311973571777,
+    0.28008127212524414,
+    0.23737168312072754,
+    0.27892136573791504,
+    0.23497271537780762,
+    0.2786886692047119,
+    0.23482012748718262,
+    0.2733783721923828,
+    0.2401127815246582,
+    0.27764201164245605,
+    0.24273252487182617,
+    0.2868170738220215,
+    0.23214292526245117,
+    0.2774183750152588,
+    0.22982215881347656
+   ],
+   "err_cube_cm": 3.0,
+   "err_tray_cm": 1.1
+  }
+ ]
+}

reports/demos/cu_results.json ADDED Viewed

The diff for this file is too large to render. See raw diff

videos/computer_use_shop.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:1a8d7d1db813c7d9589145ec14160fd72b40fd69710046ec6bf920b97d21ce52
+size 103112

videos/robot_arm_pick_place.mp4 ADDED Viewed

Binary file (77.7 kB). View file