Upload Piper adaptive B-spline adaptive_open_loop_evaluation_all.json
Browse files
models/piper-pick-white-block-25hz-qwenpi-v3-adaptive-left-exclude-gripper-native-controls13-gb32-50k-20260905/adaptive_open_loop_evaluation_all.json
ADDED
|
@@ -0,0 +1,2748 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"evaluation": "open_loop_recorded_observations_native_variable_horizon",
|
| 3 |
+
"definition": "Each prediction uses a recorded observation; plans are sampled at native 25 Hz and masked at sum(first 10 predicted durations), never resampled to a fixed action count.",
|
| 4 |
+
"checkpoint": "/scratch/wangpc/DiscreteRTCv2/results/Checkpoints/piper_pick_white_block_20260818_qwenpi_25hz_adaptive_left_bspline_excl_gripper_native_c13_gb32_50k/checkpoints/steps_50000_pytorch_model.pt",
|
| 5 |
+
"seed": 42,
|
| 6 |
+
"dataset_observations": 17141,
|
| 7 |
+
"evaluated_observations": 17141,
|
| 8 |
+
"episodes": 52,
|
| 9 |
+
"action_frequency_hz": 25.0,
|
| 10 |
+
"native_horizon_safety_cap": 64,
|
| 11 |
+
"parameter_shape_per_observation": [
|
| 12 |
+
13,
|
| 13 |
+
8
|
| 14 |
+
],
|
| 15 |
+
"parameter_layout": "[control_dim_0 ... control_dim_6, duration]",
|
| 16 |
+
"normalized_parameter_prediction": {
|
| 17 |
+
"overall": {
|
| 18 |
+
"count": 1782664,
|
| 19 |
+
"mse": 0.0028200737398234965,
|
| 20 |
+
"rmse": 0.05310436648547365,
|
| 21 |
+
"mae": 0.019016883035625966,
|
| 22 |
+
"p95_absolute_error": 0.0604052767157554,
|
| 23 |
+
"max_absolute_error": 4.046850204467773
|
| 24 |
+
},
|
| 25 |
+
"controls": {
|
| 26 |
+
"count": 1559831,
|
| 27 |
+
"mse": 0.002415581372452012,
|
| 28 |
+
"rmse": 0.04914856429695594,
|
| 29 |
+
"mae": 0.014674591690814514,
|
| 30 |
+
"p95_absolute_error": 0.03557415492832661,
|
| 31 |
+
"max_absolute_error": 4.046850204467773
|
| 32 |
+
},
|
| 33 |
+
"duration": {
|
| 34 |
+
"count": 222833,
|
| 35 |
+
"mse": 0.005651520311423922,
|
| 36 |
+
"rmse": 0.07517659417281367,
|
| 37 |
+
"mae": 0.049412922449306146,
|
| 38 |
+
"p95_absolute_error": 0.13739666938781725,
|
| 39 |
+
"max_absolute_error": 1.9621162414550781
|
| 40 |
+
},
|
| 41 |
+
"per_row": [
|
| 42 |
+
{
|
| 43 |
+
"count": 137128,
|
| 44 |
+
"mse": 0.0011327733979225243,
|
| 45 |
+
"rmse": 0.03365669915369783,
|
| 46 |
+
"mae": 0.016479821406403396,
|
| 47 |
+
"p95_absolute_error": 0.052392625808715704,
|
| 48 |
+
"max_absolute_error": 1.4376895427703857
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"count": 137128,
|
| 52 |
+
"mse": 0.0011772991693573952,
|
| 53 |
+
"rmse": 0.03431179344419926,
|
| 54 |
+
"mae": 0.016361888418544666,
|
| 55 |
+
"p95_absolute_error": 0.05517472326755524,
|
| 56 |
+
"max_absolute_error": 1.5643310546875
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"count": 137128,
|
| 60 |
+
"mse": 0.0028043387377028666,
|
| 61 |
+
"rmse": 0.05295600756951818,
|
| 62 |
+
"mae": 0.018065238289611547,
|
| 63 |
+
"p95_absolute_error": 0.05888317227363586,
|
| 64 |
+
"max_absolute_error": 3.506945848464966
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"count": 137128,
|
| 68 |
+
"mse": 0.0034577849489948924,
|
| 69 |
+
"rmse": 0.05880293316659376,
|
| 70 |
+
"mae": 0.019164021193018688,
|
| 71 |
+
"p95_absolute_error": 0.06053571403026579,
|
| 72 |
+
"max_absolute_error": 3.575573682785034
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"count": 137128,
|
| 76 |
+
"mse": 0.0028589716347132937,
|
| 77 |
+
"rmse": 0.05346935229375136,
|
| 78 |
+
"mae": 0.019323936215639676,
|
| 79 |
+
"p95_absolute_error": 0.062133407592773415,
|
| 80 |
+
"max_absolute_error": 3.740443706512451
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"count": 137128,
|
| 84 |
+
"mse": 0.002914831825574587,
|
| 85 |
+
"rmse": 0.05398918248662955,
|
| 86 |
+
"mae": 0.019405066190049777,
|
| 87 |
+
"p95_absolute_error": 0.0625166833400726,
|
| 88 |
+
"max_absolute_error": 3.4382081031799316
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"count": 137128,
|
| 92 |
+
"mse": 0.003107007077499237,
|
| 93 |
+
"rmse": 0.05574053352363284,
|
| 94 |
+
"mae": 0.01938759818096443,
|
| 95 |
+
"p95_absolute_error": 0.0614348381757736,
|
| 96 |
+
"max_absolute_error": 4.02591609954834
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"count": 137128,
|
| 100 |
+
"mse": 0.0031710261251276612,
|
| 101 |
+
"rmse": 0.05631186486991584,
|
| 102 |
+
"mae": 0.019541089552720936,
|
| 103 |
+
"p95_absolute_error": 0.06225104629993438,
|
| 104 |
+
"max_absolute_error": 3.983347177505493
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"count": 137128,
|
| 108 |
+
"mse": 0.0033441604481691607,
|
| 109 |
+
"rmse": 0.05782871646655458,
|
| 110 |
+
"mae": 0.01964302145858115,
|
| 111 |
+
"p95_absolute_error": 0.06202764809131622,
|
| 112 |
+
"max_absolute_error": 4.046850204467773
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"count": 137128,
|
| 116 |
+
"mse": 0.0029814945323461627,
|
| 117 |
+
"rmse": 0.054603063397085726,
|
| 118 |
+
"mae": 0.01963941249174093,
|
| 119 |
+
"p95_absolute_error": 0.06231822073459614,
|
| 120 |
+
"max_absolute_error": 3.2866039276123047
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"count": 137128,
|
| 124 |
+
"mse": 0.003468634676523599,
|
| 125 |
+
"rmse": 0.05889511589702154,
|
| 126 |
+
"mae": 0.019966529271459754,
|
| 127 |
+
"p95_absolute_error": 0.06200696527957911,
|
| 128 |
+
"max_absolute_error": 3.4011082649230957
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"count": 137128,
|
| 132 |
+
"mse": 0.0030725161193602664,
|
| 133 |
+
"rmse": 0.055430281609967186,
|
| 134 |
+
"mae": 0.01980170139624917,
|
| 135 |
+
"p95_absolute_error": 0.061144153587520116,
|
| 136 |
+
"max_absolute_error": 3.88958740234375
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"count": 137128,
|
| 140 |
+
"mse": 0.003170119924413829,
|
| 141 |
+
"rmse": 0.05630381802696713,
|
| 142 |
+
"mae": 0.020440155398153453,
|
| 143 |
+
"p95_absolute_error": 0.059239991009235334,
|
| 144 |
+
"max_absolute_error": 3.6858584880828857
|
| 145 |
+
}
|
| 146 |
+
],
|
| 147 |
+
"per_dimension": {
|
| 148 |
+
"joint_1": {
|
| 149 |
+
"count": 222833,
|
| 150 |
+
"mse": 0.0003050608384561218,
|
| 151 |
+
"rmse": 0.01746599090965416,
|
| 152 |
+
"mae": 0.013690335750546859,
|
| 153 |
+
"p95_absolute_error": 0.03259018659591675,
|
| 154 |
+
"max_absolute_error": 0.18718001246452332
|
| 155 |
+
},
|
| 156 |
+
"joint_2": {
|
| 157 |
+
"count": 222833,
|
| 158 |
+
"mse": 0.0003964369913786933,
|
| 159 |
+
"rmse": 0.019910725536220253,
|
| 160 |
+
"mae": 0.015051224883558924,
|
| 161 |
+
"p95_absolute_error": 0.03888064324855804,
|
| 162 |
+
"max_absolute_error": 0.1626376509666443
|
| 163 |
+
},
|
| 164 |
+
"joint_3": {
|
| 165 |
+
"count": 222833,
|
| 166 |
+
"mse": 0.0002111174022505188,
|
| 167 |
+
"rmse": 0.014529879636477337,
|
| 168 |
+
"mae": 0.010284443211531815,
|
| 169 |
+
"p95_absolute_error": 0.02914034724235534,
|
| 170 |
+
"max_absolute_error": 0.20820015668869019
|
| 171 |
+
},
|
| 172 |
+
"joint_4": {
|
| 173 |
+
"count": 222833,
|
| 174 |
+
"mse": 0.00029878813884114445,
|
| 175 |
+
"rmse": 0.01728548925663212,
|
| 176 |
+
"mae": 0.01151869054644277,
|
| 177 |
+
"p95_absolute_error": 0.033387684822082514,
|
| 178 |
+
"max_absolute_error": 0.25357288122177124
|
| 179 |
+
},
|
| 180 |
+
"joint_5": {
|
| 181 |
+
"count": 222833,
|
| 182 |
+
"mse": 0.0002801844053543612,
|
| 183 |
+
"rmse": 0.016738709787625844,
|
| 184 |
+
"mae": 0.011807745785448243,
|
| 185 |
+
"p95_absolute_error": 0.03277745842933654,
|
| 186 |
+
"max_absolute_error": 0.2500518262386322
|
| 187 |
+
},
|
| 188 |
+
"joint_6": {
|
| 189 |
+
"count": 222833,
|
| 190 |
+
"mse": 0.0002084437930605178,
|
| 191 |
+
"rmse": 0.014437582659867883,
|
| 192 |
+
"mae": 0.009988376488305318,
|
| 193 |
+
"p95_absolute_error": 0.027568423748016352,
|
| 194 |
+
"max_absolute_error": 0.16377896070480347
|
| 195 |
+
},
|
| 196 |
+
"gripper": {
|
| 197 |
+
"count": 222833,
|
| 198 |
+
"mse": 0.015209038037822706,
|
| 199 |
+
"rmse": 0.12332492869579413,
|
| 200 |
+
"mae": 0.03038132516986767,
|
| 201 |
+
"p95_absolute_error": 0.07160004377365109,
|
| 202 |
+
"max_absolute_error": 4.046850204467773
|
| 203 |
+
},
|
| 204 |
+
"duration": {
|
| 205 |
+
"count": 222833,
|
| 206 |
+
"mse": 0.005651520311423922,
|
| 207 |
+
"rmse": 0.07517659417281367,
|
| 208 |
+
"mae": 0.049412922449306146,
|
| 209 |
+
"p95_absolute_error": 0.13739666938781725,
|
| 210 |
+
"max_absolute_error": 1.9621162414550781
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
},
|
| 214 |
+
"integer_duration_prediction": {
|
| 215 |
+
"count": 222833,
|
| 216 |
+
"mse": 0.6467489106191632,
|
| 217 |
+
"rmse": 0.8042070073178691,
|
| 218 |
+
"mae": 0.43186152858867405,
|
| 219 |
+
"p95_absolute_error": 1.0,
|
| 220 |
+
"max_absolute_error": 19.0,
|
| 221 |
+
"exact_accuracy": 0.6274878496452501,
|
| 222 |
+
"predicted_native_horizon": {
|
| 223 |
+
"min": 10,
|
| 224 |
+
"median": 19.0,
|
| 225 |
+
"mean": 19.957178694358557,
|
| 226 |
+
"p95": 31.0,
|
| 227 |
+
"max": 49
|
| 228 |
+
},
|
| 229 |
+
"target_native_horizon": {
|
| 230 |
+
"min": 10,
|
| 231 |
+
"median": 19.0,
|
| 232 |
+
"mean": 20.404468817455225,
|
| 233 |
+
"p95": 32.0,
|
| 234 |
+
"max": 48
|
| 235 |
+
},
|
| 236 |
+
"horizon_mae_steps": 1.3292690041421154,
|
| 237 |
+
"predicted_truncation_fraction": 0.0,
|
| 238 |
+
"target_truncation_fraction": 0.0
|
| 239 |
+
},
|
| 240 |
+
"physical_action_prediction_vs_original_target": {
|
| 241 |
+
"overall": {
|
| 242 |
+
"count": 2275420,
|
| 243 |
+
"mse": 0.0005322588116188983,
|
| 244 |
+
"rmse": 0.023070734960527337,
|
| 245 |
+
"mae": 0.010849524485275909,
|
| 246 |
+
"p95_absolute_error": 0.032755267620086626,
|
| 247 |
+
"max_absolute_error": 0.8638747930526733
|
| 248 |
+
},
|
| 249 |
+
"arm": {
|
| 250 |
+
"count": 1950360,
|
| 251 |
+
"mse": 0.0002466304615940456,
|
| 252 |
+
"rmse": 0.015704472662080877,
|
| 253 |
+
"mae": 0.010053674914005419,
|
| 254 |
+
"p95_absolute_error": 0.03137356936931607,
|
| 255 |
+
"max_absolute_error": 0.24149906635284424
|
| 256 |
+
},
|
| 257 |
+
"gripper": {
|
| 258 |
+
"count": 325060,
|
| 259 |
+
"mse": 0.0022460289117680133,
|
| 260 |
+
"rmse": 0.047392287471359866,
|
| 261 |
+
"mae": 0.015624621912898857,
|
| 262 |
+
"p95_absolute_error": 0.058365185558795926,
|
| 263 |
+
"max_absolute_error": 0.8638747930526733
|
| 264 |
+
},
|
| 265 |
+
"per_horizon": [
|
| 266 |
+
{
|
| 267 |
+
"count": 119987,
|
| 268 |
+
"mse": 0.0001574131982525053,
|
| 269 |
+
"rmse": 0.012546441657000015,
|
| 270 |
+
"mae": 0.00846454466386439,
|
| 271 |
+
"p95_absolute_error": 0.02609466090798378,
|
| 272 |
+
"max_absolute_error": 0.2070712149143219
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"count": 119623,
|
| 276 |
+
"mse": 0.00017563659875688848,
|
| 277 |
+
"rmse": 0.013252795884525215,
|
| 278 |
+
"mae": 0.008174141711595974,
|
| 279 |
+
"p95_absolute_error": 0.024686715006828303,
|
| 280 |
+
"max_absolute_error": 0.4047509431838989
|
| 281 |
+
},
|
| 282 |
+
{
|
| 283 |
+
"count": 119259,
|
| 284 |
+
"mse": 0.000258818301604505,
|
| 285 |
+
"rmse": 0.016087830854546705,
|
| 286 |
+
"mae": 0.008733431141615539,
|
| 287 |
+
"p95_absolute_error": 0.025857293605804438,
|
| 288 |
+
"max_absolute_error": 0.5544781684875488
|
| 289 |
+
},
|
| 290 |
+
{
|
| 291 |
+
"count": 118895,
|
| 292 |
+
"mse": 0.00035136998130102896,
|
| 293 |
+
"rmse": 0.018744865465002116,
|
| 294 |
+
"mae": 0.00940514215625335,
|
| 295 |
+
"p95_absolute_error": 0.027731528878211953,
|
| 296 |
+
"max_absolute_error": 0.6621748805046082
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"count": 118531,
|
| 300 |
+
"mse": 0.0004310447945918754,
|
| 301 |
+
"rmse": 0.02076161830378055,
|
| 302 |
+
"mae": 0.010028226938166922,
|
| 303 |
+
"p95_absolute_error": 0.029670655727386475,
|
| 304 |
+
"max_absolute_error": 0.771884560585022
|
| 305 |
+
},
|
| 306 |
+
{
|
| 307 |
+
"count": 118167,
|
| 308 |
+
"mse": 0.0004841272727453445,
|
| 309 |
+
"rmse": 0.02200289237226198,
|
| 310 |
+
"mae": 0.010529951592677144,
|
| 311 |
+
"p95_absolute_error": 0.031644512712955465,
|
| 312 |
+
"max_absolute_error": 0.7475048899650574
|
| 313 |
+
},
|
| 314 |
+
{
|
| 315 |
+
"count": 117803,
|
| 316 |
+
"mse": 0.000510769081292914,
|
| 317 |
+
"rmse": 0.022600200912666995,
|
| 318 |
+
"mae": 0.010951206508629211,
|
| 319 |
+
"p95_absolute_error": 0.033674710988998414,
|
| 320 |
+
"max_absolute_error": 0.7820561528205872
|
| 321 |
+
},
|
| 322 |
+
{
|
| 323 |
+
"count": 117439,
|
| 324 |
+
"mse": 0.0005295085205121516,
|
| 325 |
+
"rmse": 0.023011052138312834,
|
| 326 |
+
"mae": 0.011325271401834022,
|
| 327 |
+
"p95_absolute_error": 0.03548828810453412,
|
| 328 |
+
"max_absolute_error": 0.8210033178329468
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"count": 117075,
|
| 332 |
+
"mse": 0.0005456828660493547,
|
| 333 |
+
"rmse": 0.023359855865337755,
|
| 334 |
+
"mae": 0.011653558617229939,
|
| 335 |
+
"p95_absolute_error": 0.03733658790588375,
|
| 336 |
+
"max_absolute_error": 0.8458685874938965
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"count": 116711,
|
| 340 |
+
"mse": 0.0005784675349239468,
|
| 341 |
+
"rmse": 0.02405135203941655,
|
| 342 |
+
"mae": 0.011990722031213544,
|
| 343 |
+
"p95_absolute_error": 0.03902067989110947,
|
| 344 |
+
"max_absolute_error": 0.859929621219635
|
| 345 |
+
},
|
| 346 |
+
{
|
| 347 |
+
"count": 111461,
|
| 348 |
+
"mse": 0.0005983943658106459,
|
| 349 |
+
"rmse": 0.024462100600942796,
|
| 350 |
+
"mae": 0.011919676267882795,
|
| 351 |
+
"p95_absolute_error": 0.03828740119934082,
|
| 352 |
+
"max_absolute_error": 0.8638747930526733
|
| 353 |
+
},
|
| 354 |
+
{
|
| 355 |
+
"count": 106001,
|
| 356 |
+
"mse": 0.0006516490603714276,
|
| 357 |
+
"rmse": 0.025527417816368102,
|
| 358 |
+
"mae": 0.011905193998630183,
|
| 359 |
+
"p95_absolute_error": 0.03734385967254639,
|
| 360 |
+
"max_absolute_error": 0.8583927750587463
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"count": 100135,
|
| 364 |
+
"mse": 0.0007027996128742555,
|
| 365 |
+
"rmse": 0.026510368026005513,
|
| 366 |
+
"mae": 0.011930820953054448,
|
| 367 |
+
"p95_absolute_error": 0.03669114857912063,
|
| 368 |
+
"max_absolute_error": 0.8141719698905945
|
| 369 |
+
},
|
| 370 |
+
{
|
| 371 |
+
"count": 93674,
|
| 372 |
+
"mse": 0.0007310473258848714,
|
| 373 |
+
"rmse": 0.02703788686056792,
|
| 374 |
+
"mae": 0.011952445030096607,
|
| 375 |
+
"p95_absolute_error": 0.03620781898498532,
|
| 376 |
+
"max_absolute_error": 0.7847455739974976
|
| 377 |
+
},
|
| 378 |
+
{
|
| 379 |
+
"count": 87353,
|
| 380 |
+
"mse": 0.000749396787262358,
|
| 381 |
+
"rmse": 0.027375112552505753,
|
| 382 |
+
"mae": 0.011970099450737253,
|
| 383 |
+
"p95_absolute_error": 0.036328804492950416,
|
| 384 |
+
"max_absolute_error": 0.7596307396888733
|
| 385 |
+
},
|
| 386 |
+
{
|
| 387 |
+
"count": 80493,
|
| 388 |
+
"mse": 0.0007633223634299328,
|
| 389 |
+
"rmse": 0.027628289187532636,
|
| 390 |
+
"mae": 0.01193796222184367,
|
| 391 |
+
"p95_absolute_error": 0.036028242111206046,
|
| 392 |
+
"max_absolute_error": 0.7753258943557739
|
| 393 |
+
},
|
| 394 |
+
{
|
| 395 |
+
"count": 73360,
|
| 396 |
+
"mse": 0.0007501438835914434,
|
| 397 |
+
"rmse": 0.02738875469223534,
|
| 398 |
+
"mae": 0.011827668105023573,
|
| 399 |
+
"p95_absolute_error": 0.035355401039123574,
|
| 400 |
+
"max_absolute_error": 0.8182260394096375
|
| 401 |
+
},
|
| 402 |
+
{
|
| 403 |
+
"count": 66164,
|
| 404 |
+
"mse": 0.000752096087563695,
|
| 405 |
+
"rmse": 0.027424370322100287,
|
| 406 |
+
"mae": 0.01177714442431601,
|
| 407 |
+
"p95_absolute_error": 0.03506657462567091,
|
| 408 |
+
"max_absolute_error": 0.7759478688240051
|
| 409 |
+
},
|
| 410 |
+
{
|
| 411 |
+
"count": 59024,
|
| 412 |
+
"mse": 0.0007322887424078368,
|
| 413 |
+
"rmse": 0.02706083410406702,
|
| 414 |
+
"mae": 0.011596741389466677,
|
| 415 |
+
"p95_absolute_error": 0.03416225910186767,
|
| 416 |
+
"max_absolute_error": 0.7685394287109375
|
| 417 |
+
},
|
| 418 |
+
{
|
| 419 |
+
"count": 51877,
|
| 420 |
+
"mse": 0.0007069732364562987,
|
| 421 |
+
"rmse": 0.026588968322526142,
|
| 422 |
+
"mae": 0.011455093277568919,
|
| 423 |
+
"p95_absolute_error": 0.03360956609249113,
|
| 424 |
+
"max_absolute_error": 0.7375544309616089
|
| 425 |
+
},
|
| 426 |
+
{
|
| 427 |
+
"count": 45108,
|
| 428 |
+
"mse": 0.0006884402947798881,
|
| 429 |
+
"rmse": 0.026238145795385165,
|
| 430 |
+
"mae": 0.011365636197427144,
|
| 431 |
+
"p95_absolute_error": 0.032974622584879404,
|
| 432 |
+
"max_absolute_error": 0.7138420939445496
|
| 433 |
+
},
|
| 434 |
+
{
|
| 435 |
+
"count": 39088,
|
| 436 |
+
"mse": 0.0006674888329841379,
|
| 437 |
+
"rmse": 0.025835805251320072,
|
| 438 |
+
"mae": 0.011270437082937882,
|
| 439 |
+
"p95_absolute_error": 0.032479848712682724,
|
| 440 |
+
"max_absolute_error": 0.6664466857910156
|
| 441 |
+
},
|
| 442 |
+
{
|
| 443 |
+
"count": 33474,
|
| 444 |
+
"mse": 0.0006357537466073063,
|
| 445 |
+
"rmse": 0.025214157662061733,
|
| 446 |
+
"mae": 0.01108491153705294,
|
| 447 |
+
"p95_absolute_error": 0.03200953006744385,
|
| 448 |
+
"max_absolute_error": 0.7194103598594666
|
| 449 |
+
},
|
| 450 |
+
{
|
| 451 |
+
"count": 28665,
|
| 452 |
+
"mse": 0.0006244139628906816,
|
| 453 |
+
"rmse": 0.02498827650900881,
|
| 454 |
+
"mae": 0.011026342741618076,
|
| 455 |
+
"p95_absolute_error": 0.03171115368604659,
|
| 456 |
+
"max_absolute_error": 0.70328289270401
|
| 457 |
+
},
|
| 458 |
+
{
|
| 459 |
+
"count": 24304,
|
| 460 |
+
"mse": 0.0005095620704975237,
|
| 461 |
+
"rmse": 0.022573481576786594,
|
| 462 |
+
"mae": 0.010633424334610854,
|
| 463 |
+
"p95_absolute_error": 0.03102112766355274,
|
| 464 |
+
"max_absolute_error": 0.7239041328430176
|
| 465 |
+
},
|
| 466 |
+
{
|
| 467 |
+
"count": 20132,
|
| 468 |
+
"mse": 0.00048582092812709767,
|
| 469 |
+
"rmse": 0.022041345878305564,
|
| 470 |
+
"mae": 0.010527189337833864,
|
| 471 |
+
"p95_absolute_error": 0.0315143920481205,
|
| 472 |
+
"max_absolute_error": 0.7022465467453003
|
| 473 |
+
},
|
| 474 |
+
{
|
| 475 |
+
"count": 16499,
|
| 476 |
+
"mse": 0.00041465834698274374,
|
| 477 |
+
"rmse": 0.02036316151737602,
|
| 478 |
+
"mae": 0.010423893231341526,
|
| 479 |
+
"p95_absolute_error": 0.03134784884750842,
|
| 480 |
+
"max_absolute_error": 0.41346317529678345
|
| 481 |
+
},
|
| 482 |
+
{
|
| 483 |
+
"count": 13111,
|
| 484 |
+
"mse": 0.00041502360982874223,
|
| 485 |
+
"rmse": 0.020372128259677293,
|
| 486 |
+
"mae": 0.0105053790244103,
|
| 487 |
+
"p95_absolute_error": 0.031788021326065063,
|
| 488 |
+
"max_absolute_error": 0.487260103225708
|
| 489 |
+
},
|
| 490 |
+
{
|
| 491 |
+
"count": 10094,
|
| 492 |
+
"mse": 0.00040657369778228424,
|
| 493 |
+
"rmse": 0.020163672725530046,
|
| 494 |
+
"mae": 0.010537312319797482,
|
| 495 |
+
"p95_absolute_error": 0.031766755878925336,
|
| 496 |
+
"max_absolute_error": 0.3571789264678955
|
| 497 |
+
},
|
| 498 |
+
{
|
| 499 |
+
"count": 7861,
|
| 500 |
+
"mse": 0.00041872405468940035,
|
| 501 |
+
"rmse": 0.02046274797502526,
|
| 502 |
+
"mae": 0.010725139629905206,
|
| 503 |
+
"p95_absolute_error": 0.032591164112091064,
|
| 504 |
+
"max_absolute_error": 0.31388238072395325
|
| 505 |
+
},
|
| 506 |
+
{
|
| 507 |
+
"count": 6069,
|
| 508 |
+
"mse": 0.0004737535965471321,
|
| 509 |
+
"rmse": 0.02176588147875321,
|
| 510 |
+
"mae": 0.011029766456890482,
|
| 511 |
+
"p95_absolute_error": 0.03358834236860273,
|
| 512 |
+
"max_absolute_error": 0.4349961578845978
|
| 513 |
+
},
|
| 514 |
+
{
|
| 515 |
+
"count": 4711,
|
| 516 |
+
"mse": 0.000476128256453228,
|
| 517 |
+
"rmse": 0.021820363343749066,
|
| 518 |
+
"mae": 0.011163903619343626,
|
| 519 |
+
"p95_absolute_error": 0.0336151048541069,
|
| 520 |
+
"max_absolute_error": 0.29632365703582764
|
| 521 |
+
},
|
| 522 |
+
{
|
| 523 |
+
"count": 3563,
|
| 524 |
+
"mse": 0.0005271275296401803,
|
| 525 |
+
"rmse": 0.022959258037667078,
|
| 526 |
+
"mae": 0.011537159882996095,
|
| 527 |
+
"p95_absolute_error": 0.035464254021644555,
|
| 528 |
+
"max_absolute_error": 0.2707773447036743
|
| 529 |
+
},
|
| 530 |
+
{
|
| 531 |
+
"count": 2639,
|
| 532 |
+
"mse": 0.0005543712434110183,
|
| 533 |
+
"rmse": 0.023545089581715726,
|
| 534 |
+
"mae": 0.011667306600586737,
|
| 535 |
+
"p95_absolute_error": 0.036838746070861815,
|
| 536 |
+
"max_absolute_error": 0.396320104598999
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"count": 1974,
|
| 540 |
+
"mse": 0.0005730712310678206,
|
| 541 |
+
"rmse": 0.023938906221208617,
|
| 542 |
+
"mae": 0.011734152599138783,
|
| 543 |
+
"p95_absolute_error": 0.037307304143905616,
|
| 544 |
+
"max_absolute_error": 0.31945258378982544
|
| 545 |
+
},
|
| 546 |
+
{
|
| 547 |
+
"count": 1554,
|
| 548 |
+
"mse": 0.0006348111774904559,
|
| 549 |
+
"rmse": 0.025195459461785093,
|
| 550 |
+
"mae": 0.011669646823920184,
|
| 551 |
+
"p95_absolute_error": 0.036192987114191034,
|
| 552 |
+
"max_absolute_error": 0.33122825622558594
|
| 553 |
+
},
|
| 554 |
+
{
|
| 555 |
+
"count": 1148,
|
| 556 |
+
"mse": 0.0005924926801093315,
|
| 557 |
+
"rmse": 0.02434117252946808,
|
| 558 |
+
"mae": 0.011156385198222532,
|
| 559 |
+
"p95_absolute_error": 0.034119492769241325,
|
| 560 |
+
"max_absolute_error": 0.37826669216156006
|
| 561 |
+
},
|
| 562 |
+
{
|
| 563 |
+
"count": 770,
|
| 564 |
+
"mse": 0.0005157924041663606,
|
| 565 |
+
"rmse": 0.022711063475019406,
|
| 566 |
+
"mae": 0.010686301171489351,
|
| 567 |
+
"p95_absolute_error": 0.03168110251426695,
|
| 568 |
+
"max_absolute_error": 0.3535007834434509
|
| 569 |
+
},
|
| 570 |
+
{
|
| 571 |
+
"count": 553,
|
| 572 |
+
"mse": 0.0004360847463081447,
|
| 573 |
+
"rmse": 0.02088264222525839,
|
| 574 |
+
"mae": 0.010377560092126158,
|
| 575 |
+
"p95_absolute_error": 0.03172839879989624,
|
| 576 |
+
"max_absolute_error": 0.2618389129638672
|
| 577 |
+
},
|
| 578 |
+
{
|
| 579 |
+
"count": 392,
|
| 580 |
+
"mse": 0.0002848946000192651,
|
| 581 |
+
"rmse": 0.016878821049447296,
|
| 582 |
+
"mae": 0.009155468929711044,
|
| 583 |
+
"p95_absolute_error": 0.02778083616867661,
|
| 584 |
+
"max_absolute_error": 0.17880630493164062
|
| 585 |
+
},
|
| 586 |
+
{
|
| 587 |
+
"count": 287,
|
| 588 |
+
"mse": 0.00021866744908501416,
|
| 589 |
+
"rmse": 0.014787408464129681,
|
| 590 |
+
"mae": 0.008907439602532452,
|
| 591 |
+
"p95_absolute_error": 0.025761534087359896,
|
| 592 |
+
"max_absolute_error": 0.1009473204612732
|
| 593 |
+
},
|
| 594 |
+
{
|
| 595 |
+
"count": 168,
|
| 596 |
+
"mse": 0.0001456202781340795,
|
| 597 |
+
"rmse": 0.012067322740942975,
|
| 598 |
+
"mae": 0.00868149054613674,
|
| 599 |
+
"p95_absolute_error": 0.023099482059478763,
|
| 600 |
+
"max_absolute_error": 0.04579895734786987
|
| 601 |
+
},
|
| 602 |
+
{
|
| 603 |
+
"count": 105,
|
| 604 |
+
"mse": 0.00015282418128090988,
|
| 605 |
+
"rmse": 0.012362207783438599,
|
| 606 |
+
"mae": 0.008444401311377685,
|
| 607 |
+
"p95_absolute_error": 0.023855400085449216,
|
| 608 |
+
"max_absolute_error": 0.060346126556396484
|
| 609 |
+
},
|
| 610 |
+
{
|
| 611 |
+
"count": 56,
|
| 612 |
+
"mse": 0.00013437836485713885,
|
| 613 |
+
"rmse": 0.011592168255211742,
|
| 614 |
+
"mae": 0.00843313434493861,
|
| 615 |
+
"p95_absolute_error": 0.023802982177585363,
|
| 616 |
+
"max_absolute_error": 0.030442476272583008
|
| 617 |
+
},
|
| 618 |
+
{
|
| 619 |
+
"count": 28,
|
| 620 |
+
"mse": 0.00016043601807687086,
|
| 621 |
+
"rmse": 0.012666334042526704,
|
| 622 |
+
"mae": 0.009127467504835554,
|
| 623 |
+
"p95_absolute_error": 0.026639230549335462,
|
| 624 |
+
"max_absolute_error": 0.03539085388183594
|
| 625 |
+
},
|
| 626 |
+
{
|
| 627 |
+
"count": 14,
|
| 628 |
+
"mse": 9.302473724395855e-05,
|
| 629 |
+
"rmse": 0.00964493324206853,
|
| 630 |
+
"mae": 0.0070745885106069705,
|
| 631 |
+
"p95_absolute_error": 0.018915225565433503,
|
| 632 |
+
"max_absolute_error": 0.019063204526901245
|
| 633 |
+
},
|
| 634 |
+
{
|
| 635 |
+
"count": 7,
|
| 636 |
+
"mse": 0.00011972048116349681,
|
| 637 |
+
"rmse": 0.010941685480925542,
|
| 638 |
+
"mae": 0.008402233012020588,
|
| 639 |
+
"p95_absolute_error": 0.019385212659835813,
|
| 640 |
+
"max_absolute_error": 0.020206987857818604
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"count": 7,
|
| 644 |
+
"mse": 0.00012291493629626956,
|
| 645 |
+
"rmse": 0.01108670087520492,
|
| 646 |
+
"mae": 0.007801545916923455,
|
| 647 |
+
"p95_absolute_error": 0.020513769984245298,
|
| 648 |
+
"max_absolute_error": 0.021137267351150513
|
| 649 |
+
},
|
| 650 |
+
{
|
| 651 |
+
"count": 7,
|
| 652 |
+
"mse": 0.00014016090006327135,
|
| 653 |
+
"rmse": 0.011838956882397679,
|
| 654 |
+
"mae": 0.008547919536275523,
|
| 655 |
+
"p95_absolute_error": 0.021581655740737914,
|
| 656 |
+
"max_absolute_error": 0.021845638751983643
|
| 657 |
+
},
|
| 658 |
+
null,
|
| 659 |
+
null,
|
| 660 |
+
null,
|
| 661 |
+
null,
|
| 662 |
+
null,
|
| 663 |
+
null,
|
| 664 |
+
null,
|
| 665 |
+
null,
|
| 666 |
+
null,
|
| 667 |
+
null,
|
| 668 |
+
null,
|
| 669 |
+
null,
|
| 670 |
+
null,
|
| 671 |
+
null,
|
| 672 |
+
null
|
| 673 |
+
],
|
| 674 |
+
"per_dimension": {
|
| 675 |
+
"joint_1": {
|
| 676 |
+
"count": 325060,
|
| 677 |
+
"mse": 0.00042727244816328277,
|
| 678 |
+
"rmse": 0.02067056961390476,
|
| 679 |
+
"mae": 0.015681161183633864,
|
| 680 |
+
"p95_absolute_error": 0.037951963394880286,
|
| 681 |
+
"max_absolute_error": 0.2298176884651184
|
| 682 |
+
},
|
| 683 |
+
"joint_2": {
|
| 684 |
+
"count": 325060,
|
| 685 |
+
"mse": 0.0005614583253339591,
|
| 686 |
+
"rmse": 0.023695111844723567,
|
| 687 |
+
"mae": 0.017316446406297436,
|
| 688 |
+
"p95_absolute_error": 0.0456036627292633,
|
| 689 |
+
"max_absolute_error": 0.24149906635284424
|
| 690 |
+
},
|
| 691 |
+
"joint_3": {
|
| 692 |
+
"count": 325060,
|
| 693 |
+
"mse": 0.0002484895218985915,
|
| 694 |
+
"rmse": 0.01576355042173531,
|
| 695 |
+
"mae": 0.010297800617633596,
|
| 696 |
+
"p95_absolute_error": 0.03174040317535398,
|
| 697 |
+
"max_absolute_error": 0.22060731053352356
|
| 698 |
+
},
|
| 699 |
+
"joint_4": {
|
| 700 |
+
"count": 325060,
|
| 701 |
+
"mse": 3.1515361463631175e-05,
|
| 702 |
+
"rmse": 0.005613854421307269,
|
| 703 |
+
"mae": 0.0036490948023717483,
|
| 704 |
+
"p95_absolute_error": 0.010613568732514964,
|
| 705 |
+
"max_absolute_error": 0.09366176277399063
|
| 706 |
+
},
|
| 707 |
+
"joint_5": {
|
| 708 |
+
"count": 325060,
|
| 709 |
+
"mse": 0.00013540609016384676,
|
| 710 |
+
"rmse": 0.011636412254808041,
|
| 711 |
+
"mae": 0.007446623682354032,
|
| 712 |
+
"p95_absolute_error": 0.02152411937713622,
|
| 713 |
+
"max_absolute_error": 0.21016466617584229
|
| 714 |
+
},
|
| 715 |
+
"joint_6": {
|
| 716 |
+
"count": 325060,
|
| 717 |
+
"mse": 7.564102254096291e-05,
|
| 718 |
+
"rmse": 0.008697184748006846,
|
| 719 |
+
"mae": 0.005930922791741833,
|
| 720 |
+
"p95_absolute_error": 0.016565538942813866,
|
| 721 |
+
"max_absolute_error": 0.11780259013175964
|
| 722 |
+
},
|
| 723 |
+
"gripper": {
|
| 724 |
+
"count": 325060,
|
| 725 |
+
"mse": 0.0022460289117680133,
|
| 726 |
+
"rmse": 0.047392287471359866,
|
| 727 |
+
"mae": 0.015624621912898857,
|
| 728 |
+
"p95_absolute_error": 0.058365185558795926,
|
| 729 |
+
"max_absolute_error": 0.8638747930526733
|
| 730 |
+
}
|
| 731 |
+
},
|
| 732 |
+
"first_action": {
|
| 733 |
+
"count": 119987,
|
| 734 |
+
"mse": 0.0001574131982525053,
|
| 735 |
+
"rmse": 0.012546441657000015,
|
| 736 |
+
"mae": 0.00846454466386439,
|
| 737 |
+
"p95_absolute_error": 0.02609466090798378,
|
| 738 |
+
"max_absolute_error": 0.2070712149143219
|
| 739 |
+
},
|
| 740 |
+
"valid_plan_steps": 325060
|
| 741 |
+
},
|
| 742 |
+
"physical_action_prediction_vs_spline_target": {
|
| 743 |
+
"overall": {
|
| 744 |
+
"count": 2225769,
|
| 745 |
+
"mse": 0.00048255972770465687,
|
| 746 |
+
"rmse": 0.0219672421506355,
|
| 747 |
+
"mae": 0.010565468375504284,
|
| 748 |
+
"p95_absolute_error": 0.03173375129699707,
|
| 749 |
+
"max_absolute_error": 0.8619058132171631
|
| 750 |
+
},
|
| 751 |
+
"arm": {
|
| 752 |
+
"count": 1907802,
|
| 753 |
+
"mse": 0.00023638901958343217,
|
| 754 |
+
"rmse": 0.015374947791242485,
|
| 755 |
+
"mae": 0.009923475532308082,
|
| 756 |
+
"p95_absolute_error": 0.030891744792461394,
|
| 757 |
+
"max_absolute_error": 0.2402939796447754
|
| 758 |
+
},
|
| 759 |
+
"gripper": {
|
| 760 |
+
"count": 317967,
|
| 761 |
+
"mse": 0.0019595839764320042,
|
| 762 |
+
"rmse": 0.044267188485739684,
|
| 763 |
+
"mae": 0.014417425434681492,
|
| 764 |
+
"p95_absolute_error": 0.04958567172288906,
|
| 765 |
+
"max_absolute_error": 0.8619058132171631
|
| 766 |
+
},
|
| 767 |
+
"per_horizon": [
|
| 768 |
+
{
|
| 769 |
+
"count": 119987,
|
| 770 |
+
"mse": 0.00014783230273087046,
|
| 771 |
+
"rmse": 0.012158630791782045,
|
| 772 |
+
"mae": 0.008385113608267896,
|
| 773 |
+
"p95_absolute_error": 0.025865879654884325,
|
| 774 |
+
"max_absolute_error": 0.21900057792663574
|
| 775 |
+
},
|
| 776 |
+
{
|
| 777 |
+
"count": 119623,
|
| 778 |
+
"mse": 0.00015970767852541883,
|
| 779 |
+
"rmse": 0.012637550337206132,
|
| 780 |
+
"mae": 0.008013496377536112,
|
| 781 |
+
"p95_absolute_error": 0.02429844141006463,
|
| 782 |
+
"max_absolute_error": 0.40153536200523376
|
| 783 |
+
},
|
| 784 |
+
{
|
| 785 |
+
"count": 119259,
|
| 786 |
+
"mse": 0.00022832329927267492,
|
| 787 |
+
"rmse": 0.015110370586874266,
|
| 788 |
+
"mae": 0.008542657206038869,
|
| 789 |
+
"p95_absolute_error": 0.025307548046112058,
|
| 790 |
+
"max_absolute_error": 0.57059645652771
|
| 791 |
+
},
|
| 792 |
+
{
|
| 793 |
+
"count": 118895,
|
| 794 |
+
"mse": 0.00031400521291032144,
|
| 795 |
+
"rmse": 0.01772019223683314,
|
| 796 |
+
"mae": 0.00919517966433932,
|
| 797 |
+
"p95_absolute_error": 0.027117204666137693,
|
| 798 |
+
"max_absolute_error": 0.691930890083313
|
| 799 |
+
},
|
| 800 |
+
{
|
| 801 |
+
"count": 118531,
|
| 802 |
+
"mse": 0.00039022635758518,
|
| 803 |
+
"rmse": 0.01975414785773307,
|
| 804 |
+
"mae": 0.009795478793652012,
|
| 805 |
+
"p95_absolute_error": 0.02900099754333496,
|
| 806 |
+
"max_absolute_error": 0.7656402587890625
|
| 807 |
+
},
|
| 808 |
+
{
|
| 809 |
+
"count": 118167,
|
| 810 |
+
"mse": 0.0004442055198261093,
|
| 811 |
+
"rmse": 0.021076183711149162,
|
| 812 |
+
"mae": 0.010311994003847594,
|
| 813 |
+
"p95_absolute_error": 0.030925625562667845,
|
| 814 |
+
"max_absolute_error": 0.8207601308822632
|
| 815 |
+
},
|
| 816 |
+
{
|
| 817 |
+
"count": 117803,
|
| 818 |
+
"mse": 0.00047815504806148347,
|
| 819 |
+
"rmse": 0.02186675668821244,
|
| 820 |
+
"mae": 0.010751670024176653,
|
| 821 |
+
"p95_absolute_error": 0.03290839195251464,
|
| 822 |
+
"max_absolute_error": 0.8592552542686462
|
| 823 |
+
},
|
| 824 |
+
{
|
| 825 |
+
"count": 117439,
|
| 826 |
+
"mse": 0.0004993830836300143,
|
| 827 |
+
"rmse": 0.022346880847894955,
|
| 828 |
+
"mae": 0.011149537070992853,
|
| 829 |
+
"p95_absolute_error": 0.03472961187362664,
|
| 830 |
+
"max_absolute_error": 0.8619058132171631
|
| 831 |
+
},
|
| 832 |
+
{
|
| 833 |
+
"count": 117075,
|
| 834 |
+
"mse": 0.0005220456934638716,
|
| 835 |
+
"rmse": 0.0228483192700004,
|
| 836 |
+
"mae": 0.011502686299638397,
|
| 837 |
+
"p95_absolute_error": 0.03679586648941039,
|
| 838 |
+
"max_absolute_error": 0.8354086875915527
|
| 839 |
+
},
|
| 840 |
+
{
|
| 841 |
+
"count": 116711,
|
| 842 |
+
"mse": 0.0005504809143755064,
|
| 843 |
+
"rmse": 0.023462329687725096,
|
| 844 |
+
"mae": 0.011837772925615372,
|
| 845 |
+
"p95_absolute_error": 0.03833113610744476,
|
| 846 |
+
"max_absolute_error": 0.8080146312713623
|
| 847 |
+
},
|
| 848 |
+
{
|
| 849 |
+
"count": 111398,
|
| 850 |
+
"mse": 0.0005699555669584656,
|
| 851 |
+
"rmse": 0.023873742206836062,
|
| 852 |
+
"mae": 0.011770260530835353,
|
| 853 |
+
"p95_absolute_error": 0.03763599693775176,
|
| 854 |
+
"max_absolute_error": 0.7755684852600098
|
| 855 |
+
},
|
| 856 |
+
{
|
| 857 |
+
"count": 105735,
|
| 858 |
+
"mse": 0.0006221105013601846,
|
| 859 |
+
"rmse": 0.024942143078736934,
|
| 860 |
+
"mae": 0.011748770915576768,
|
| 861 |
+
"p95_absolute_error": 0.0367471873760223,
|
| 862 |
+
"max_absolute_error": 0.7916015982627869
|
| 863 |
+
},
|
| 864 |
+
{
|
| 865 |
+
"count": 99498,
|
| 866 |
+
"mse": 0.0006548556410140261,
|
| 867 |
+
"rmse": 0.025590147342561865,
|
| 868 |
+
"mae": 0.01170521581181884,
|
| 869 |
+
"p95_absolute_error": 0.03589529097080229,
|
| 870 |
+
"max_absolute_error": 0.7643013000488281
|
| 871 |
+
},
|
| 872 |
+
{
|
| 873 |
+
"count": 92561,
|
| 874 |
+
"mse": 0.0006719250264493765,
|
| 875 |
+
"rmse": 0.025921516669542632,
|
| 876 |
+
"mae": 0.011674524364652175,
|
| 877 |
+
"p95_absolute_error": 0.035365670919418335,
|
| 878 |
+
"max_absolute_error": 0.7799974679946899
|
| 879 |
+
},
|
| 880 |
+
{
|
| 881 |
+
"count": 85645,
|
| 882 |
+
"mse": 0.0006992432680971195,
|
| 883 |
+
"rmse": 0.026443208354833183,
|
| 884 |
+
"mae": 0.01163000474410644,
|
| 885 |
+
"p95_absolute_error": 0.0347849726676941,
|
| 886 |
+
"max_absolute_error": 0.7813566327095032
|
| 887 |
+
},
|
| 888 |
+
{
|
| 889 |
+
"count": 78015,
|
| 890 |
+
"mse": 0.0007104261995846276,
|
| 891 |
+
"rmse": 0.026653821481818094,
|
| 892 |
+
"mae": 0.011548958206908166,
|
| 893 |
+
"p95_absolute_error": 0.03441216796636582,
|
| 894 |
+
"max_absolute_error": 0.7999110221862793
|
| 895 |
+
},
|
| 896 |
+
{
|
| 897 |
+
"count": 70035,
|
| 898 |
+
"mse": 0.0006855945036519634,
|
| 899 |
+
"rmse": 0.026183859601899093,
|
| 900 |
+
"mae": 0.01139957074655828,
|
| 901 |
+
"p95_absolute_error": 0.033553230017423635,
|
| 902 |
+
"max_absolute_error": 0.7681655883789062
|
| 903 |
+
},
|
| 904 |
+
{
|
| 905 |
+
"count": 62230,
|
| 906 |
+
"mse": 0.0006620936307841464,
|
| 907 |
+
"rmse": 0.025731180128088692,
|
| 908 |
+
"mae": 0.011245934013584091,
|
| 909 |
+
"p95_absolute_error": 0.03265528753399846,
|
| 910 |
+
"max_absolute_error": 0.745879590511322
|
| 911 |
+
},
|
| 912 |
+
{
|
| 913 |
+
"count": 54992,
|
| 914 |
+
"mse": 0.0006202685469214343,
|
| 915 |
+
"rmse": 0.024905191164121473,
|
| 916 |
+
"mae": 0.010996355290153281,
|
| 917 |
+
"p95_absolute_error": 0.03202411234378813,
|
| 918 |
+
"max_absolute_error": 0.7426159977912903
|
| 919 |
+
},
|
| 920 |
+
{
|
| 921 |
+
"count": 48062,
|
| 922 |
+
"mse": 0.0005880187722741498,
|
| 923 |
+
"rmse": 0.024249098380643968,
|
| 924 |
+
"mae": 0.010887996403613001,
|
| 925 |
+
"p95_absolute_error": 0.03144162595272064,
|
| 926 |
+
"max_absolute_error": 0.7247502207756042
|
| 927 |
+
},
|
| 928 |
+
{
|
| 929 |
+
"count": 41755,
|
| 930 |
+
"mse": 0.0005828344119212959,
|
| 931 |
+
"rmse": 0.0241419637130308,
|
| 932 |
+
"mae": 0.01087075129953524,
|
| 933 |
+
"p95_absolute_error": 0.03142999559640883,
|
| 934 |
+
"max_absolute_error": 0.6834421753883362
|
| 935 |
+
},
|
| 936 |
+
{
|
| 937 |
+
"count": 35917,
|
| 938 |
+
"mse": 0.0005653975229554204,
|
| 939 |
+
"rmse": 0.02377808913591293,
|
| 940 |
+
"mae": 0.010753904345165578,
|
| 941 |
+
"p95_absolute_error": 0.030768334865570044,
|
| 942 |
+
"max_absolute_error": 0.6821024417877197
|
| 943 |
+
},
|
| 944 |
+
{
|
| 945 |
+
"count": 30429,
|
| 946 |
+
"mse": 0.0005157574925404693,
|
| 947 |
+
"rmse": 0.02271029485806975,
|
| 948 |
+
"mae": 0.010506823295729209,
|
| 949 |
+
"p95_absolute_error": 0.029766631126403792,
|
| 950 |
+
"max_absolute_error": 0.7071241736412048
|
| 951 |
+
},
|
| 952 |
+
{
|
| 953 |
+
"count": 25851,
|
| 954 |
+
"mse": 0.00046952570233892675,
|
| 955 |
+
"rmse": 0.021668541767708476,
|
| 956 |
+
"mae": 0.010281632941464525,
|
| 957 |
+
"p95_absolute_error": 0.02955690026283264,
|
| 958 |
+
"max_absolute_error": 0.7201095223426819
|
| 959 |
+
},
|
| 960 |
+
{
|
| 961 |
+
"count": 21756,
|
| 962 |
+
"mse": 0.00040787068742299733,
|
| 963 |
+
"rmse": 0.020195808659793677,
|
| 964 |
+
"mae": 0.010106972259127982,
|
| 965 |
+
"p95_absolute_error": 0.029442042112350464,
|
| 966 |
+
"max_absolute_error": 0.6705012321472168
|
| 967 |
+
},
|
| 968 |
+
{
|
| 969 |
+
"count": 17941,
|
| 970 |
+
"mse": 0.0003789073508151657,
|
| 971 |
+
"rmse": 0.01946554265401213,
|
| 972 |
+
"mae": 0.010019724201616573,
|
| 973 |
+
"p95_absolute_error": 0.029835641384124756,
|
| 974 |
+
"max_absolute_error": 0.5533376932144165
|
| 975 |
+
},
|
| 976 |
+
{
|
| 977 |
+
"count": 14413,
|
| 978 |
+
"mse": 0.00036322240110157476,
|
| 979 |
+
"rmse": 0.019058394504825812,
|
| 980 |
+
"mae": 0.009982770292504134,
|
| 981 |
+
"p95_absolute_error": 0.029523342847824097,
|
| 982 |
+
"max_absolute_error": 0.39948344230651855
|
| 983 |
+
},
|
| 984 |
+
{
|
| 985 |
+
"count": 11116,
|
| 986 |
+
"mse": 0.000351727569170307,
|
| 987 |
+
"rmse": 0.018754401327963178,
|
| 988 |
+
"mae": 0.010005238710022249,
|
| 989 |
+
"p95_absolute_error": 0.03016999363899231,
|
| 990 |
+
"max_absolute_error": 0.37430059909820557
|
| 991 |
+
},
|
| 992 |
+
{
|
| 993 |
+
"count": 8477,
|
| 994 |
+
"mse": 0.0003537411403454755,
|
| 995 |
+
"rmse": 0.01880800734648611,
|
| 996 |
+
"mae": 0.01004168344579195,
|
| 997 |
+
"p95_absolute_error": 0.029804170131683346,
|
| 998 |
+
"max_absolute_error": 0.3485387861728668
|
| 999 |
+
},
|
| 1000 |
+
{
|
| 1001 |
+
"count": 6706,
|
| 1002 |
+
"mse": 0.000359497342373309,
|
| 1003 |
+
"rmse": 0.01896041514243053,
|
| 1004 |
+
"mae": 0.01015801801391517,
|
| 1005 |
+
"p95_absolute_error": 0.030678510665893555,
|
| 1006 |
+
"max_absolute_error": 0.2701384127140045
|
| 1007 |
+
},
|
| 1008 |
+
{
|
| 1009 |
+
"count": 5180,
|
| 1010 |
+
"mse": 0.00037573863728271783,
|
| 1011 |
+
"rmse": 0.019383978881610395,
|
| 1012 |
+
"mae": 0.010273208574150981,
|
| 1013 |
+
"p95_absolute_error": 0.031052424758672717,
|
| 1014 |
+
"max_absolute_error": 0.24237924814224243
|
| 1015 |
+
},
|
| 1016 |
+
{
|
| 1017 |
+
"count": 3941,
|
| 1018 |
+
"mse": 0.00037109910867599334,
|
| 1019 |
+
"rmse": 0.019263932845501548,
|
| 1020 |
+
"mae": 0.010345269250264025,
|
| 1021 |
+
"p95_absolute_error": 0.03156566619873047,
|
| 1022 |
+
"max_absolute_error": 0.25583261251449585
|
| 1023 |
+
},
|
| 1024 |
+
{
|
| 1025 |
+
"count": 2926,
|
| 1026 |
+
"mse": 0.00037626121581021786,
|
| 1027 |
+
"rmse": 0.019397453848642554,
|
| 1028 |
+
"mae": 0.010330607094792414,
|
| 1029 |
+
"p95_absolute_error": 0.03116510808467865,
|
| 1030 |
+
"max_absolute_error": 0.2351561188697815
|
| 1031 |
+
},
|
| 1032 |
+
{
|
| 1033 |
+
"count": 2198,
|
| 1034 |
+
"mse": 0.00037525252957835515,
|
| 1035 |
+
"rmse": 0.0193714359193725,
|
| 1036 |
+
"mae": 0.010335075371543639,
|
| 1037 |
+
"p95_absolute_error": 0.03035061955451971,
|
| 1038 |
+
"max_absolute_error": 0.2671276032924652
|
| 1039 |
+
},
|
| 1040 |
+
{
|
| 1041 |
+
"count": 1631,
|
| 1042 |
+
"mse": 0.00041161484109880414,
|
| 1043 |
+
"rmse": 0.020288293203194894,
|
| 1044 |
+
"mae": 0.01022344771464276,
|
| 1045 |
+
"p95_absolute_error": 0.029269933700561523,
|
| 1046 |
+
"max_absolute_error": 0.2940877377986908
|
| 1047 |
+
},
|
| 1048 |
+
{
|
| 1049 |
+
"count": 1260,
|
| 1050 |
+
"mse": 0.000385356438388773,
|
| 1051 |
+
"rmse": 0.019630497660242163,
|
| 1052 |
+
"mae": 0.009800598066714074,
|
| 1053 |
+
"p95_absolute_error": 0.02821186482906341,
|
| 1054 |
+
"max_absolute_error": 0.31632235646247864
|
| 1055 |
+
},
|
| 1056 |
+
{
|
| 1057 |
+
"count": 861,
|
| 1058 |
+
"mse": 0.000403523781063363,
|
| 1059 |
+
"rmse": 0.020087901360355268,
|
| 1060 |
+
"mae": 0.00967070910296512,
|
| 1061 |
+
"p95_absolute_error": 0.028967082500457764,
|
| 1062 |
+
"max_absolute_error": 0.3288273215293884
|
| 1063 |
+
},
|
| 1064 |
+
{
|
| 1065 |
+
"count": 588,
|
| 1066 |
+
"mse": 0.00040698265018054836,
|
| 1067 |
+
"rmse": 0.0201738109979386,
|
| 1068 |
+
"mae": 0.009756282922260615,
|
| 1069 |
+
"p95_absolute_error": 0.02853976786136627,
|
| 1070 |
+
"max_absolute_error": 0.3018837571144104
|
| 1071 |
+
},
|
| 1072 |
+
{
|
| 1073 |
+
"count": 406,
|
| 1074 |
+
"mse": 0.00034811639439174597,
|
| 1075 |
+
"rmse": 0.01865787754252198,
|
| 1076 |
+
"mae": 0.009242967284958938,
|
| 1077 |
+
"p95_absolute_error": 0.024908214807510376,
|
| 1078 |
+
"max_absolute_error": 0.2489410638809204
|
| 1079 |
+
},
|
| 1080 |
+
{
|
| 1081 |
+
"count": 287,
|
| 1082 |
+
"mse": 0.00027463952927480175,
|
| 1083 |
+
"rmse": 0.01657225178648942,
|
| 1084 |
+
"mae": 0.009262408217486605,
|
| 1085 |
+
"p95_absolute_error": 0.02664596438407896,
|
| 1086 |
+
"max_absolute_error": 0.18344873189926147
|
| 1087 |
+
},
|
| 1088 |
+
{
|
| 1089 |
+
"count": 189,
|
| 1090 |
+
"mse": 0.00014169989644426052,
|
| 1091 |
+
"rmse": 0.011903776562262101,
|
| 1092 |
+
"mae": 0.008590526129833605,
|
| 1093 |
+
"p95_absolute_error": 0.025591874122619623,
|
| 1094 |
+
"max_absolute_error": 0.049330294132232666
|
| 1095 |
+
},
|
| 1096 |
+
{
|
| 1097 |
+
"count": 112,
|
| 1098 |
+
"mse": 0.00010645829445632415,
|
| 1099 |
+
"rmse": 0.0103178628822215,
|
| 1100 |
+
"mae": 0.007577195231403623,
|
| 1101 |
+
"p95_absolute_error": 0.02121252417564391,
|
| 1102 |
+
"max_absolute_error": 0.032901108264923096
|
| 1103 |
+
},
|
| 1104 |
+
{
|
| 1105 |
+
"count": 84,
|
| 1106 |
+
"mse": 9.191171056176559e-05,
|
| 1107 |
+
"rmse": 0.009587059536780065,
|
| 1108 |
+
"mae": 0.007067880460194179,
|
| 1109 |
+
"p95_absolute_error": 0.02050733864307403,
|
| 1110 |
+
"max_absolute_error": 0.02333521842956543
|
| 1111 |
+
},
|
| 1112 |
+
{
|
| 1113 |
+
"count": 42,
|
| 1114 |
+
"mse": 0.00010277932264572225,
|
| 1115 |
+
"rmse": 0.010138013742628398,
|
| 1116 |
+
"mae": 0.007235621412595113,
|
| 1117 |
+
"p95_absolute_error": 0.02103937417268751,
|
| 1118 |
+
"max_absolute_error": 0.03384596109390259
|
| 1119 |
+
},
|
| 1120 |
+
{
|
| 1121 |
+
"count": 14,
|
| 1122 |
+
"mse": 7.166051267696158e-05,
|
| 1123 |
+
"rmse": 0.008465253255335104,
|
| 1124 |
+
"mae": 0.006173972572599139,
|
| 1125 |
+
"p95_absolute_error": 0.0176844522356987,
|
| 1126 |
+
"max_absolute_error": 0.017742663621902466
|
| 1127 |
+
},
|
| 1128 |
+
{
|
| 1129 |
+
"count": 14,
|
| 1130 |
+
"mse": 8.332568021967341e-05,
|
| 1131 |
+
"rmse": 0.0091282901038296,
|
| 1132 |
+
"mae": 0.006570971437862941,
|
| 1133 |
+
"p95_absolute_error": 0.018999567627906798,
|
| 1134 |
+
"max_absolute_error": 0.019091427326202393
|
| 1135 |
+
},
|
| 1136 |
+
{
|
| 1137 |
+
"count": 7,
|
| 1138 |
+
"mse": 0.00011482789510885993,
|
| 1139 |
+
"rmse": 0.010715777858319942,
|
| 1140 |
+
"mae": 0.007885660443987166,
|
| 1141 |
+
"p95_absolute_error": 0.019515296816825865,
|
| 1142 |
+
"max_absolute_error": 0.02023521065711975
|
| 1143 |
+
},
|
| 1144 |
+
{
|
| 1145 |
+
"count": 7,
|
| 1146 |
+
"mse": 0.00012615939025347904,
|
| 1147 |
+
"rmse": 0.01123206972260585,
|
| 1148 |
+
"mae": 0.008155073438371931,
|
| 1149 |
+
"p95_absolute_error": 0.020567893981933594,
|
| 1150 |
+
"max_absolute_error": 0.02116549015045166
|
| 1151 |
+
},
|
| 1152 |
+
null,
|
| 1153 |
+
null,
|
| 1154 |
+
null,
|
| 1155 |
+
null,
|
| 1156 |
+
null,
|
| 1157 |
+
null,
|
| 1158 |
+
null,
|
| 1159 |
+
null,
|
| 1160 |
+
null,
|
| 1161 |
+
null,
|
| 1162 |
+
null,
|
| 1163 |
+
null,
|
| 1164 |
+
null,
|
| 1165 |
+
null,
|
| 1166 |
+
null,
|
| 1167 |
+
null
|
| 1168 |
+
],
|
| 1169 |
+
"per_dimension": {
|
| 1170 |
+
"joint_1": {
|
| 1171 |
+
"count": 317967,
|
| 1172 |
+
"mse": 0.0004163082383480143,
|
| 1173 |
+
"rmse": 0.020403632969351666,
|
| 1174 |
+
"mae": 0.015563206157539027,
|
| 1175 |
+
"p95_absolute_error": 0.037550847232341776,
|
| 1176 |
+
"max_absolute_error": 0.23011714220046997
|
| 1177 |
+
},
|
| 1178 |
+
"joint_2": {
|
| 1179 |
+
"count": 317967,
|
| 1180 |
+
"mse": 0.0005323164619889846,
|
| 1181 |
+
"rmse": 0.023071984353084687,
|
| 1182 |
+
"mae": 0.017028260040712277,
|
| 1183 |
+
"p95_absolute_error": 0.04437810182571413,
|
| 1184 |
+
"max_absolute_error": 0.2402939796447754
|
| 1185 |
+
},
|
| 1186 |
+
"joint_3": {
|
| 1187 |
+
"count": 317967,
|
| 1188 |
+
"mse": 0.00023838618817369051,
|
| 1189 |
+
"rmse": 0.015439759977852328,
|
| 1190 |
+
"mae": 0.01015735622270642,
|
| 1191 |
+
"p95_absolute_error": 0.031109464168548588,
|
| 1192 |
+
"max_absolute_error": 0.21978759765625
|
| 1193 |
+
},
|
| 1194 |
+
"joint_4": {
|
| 1195 |
+
"count": 317967,
|
| 1196 |
+
"mse": 3.008187961340377e-05,
|
| 1197 |
+
"rmse": 0.005484695033764755,
|
| 1198 |
+
"mae": 0.003594743143427297,
|
| 1199 |
+
"p95_absolute_error": 0.010403524339199069,
|
| 1200 |
+
"max_absolute_error": 0.09191612899303436
|
| 1201 |
+
},
|
| 1202 |
+
"joint_5": {
|
| 1203 |
+
"count": 317967,
|
| 1204 |
+
"mse": 0.00012812762458649108,
|
| 1205 |
+
"rmse": 0.011319347356914668,
|
| 1206 |
+
"mae": 0.007323957597082686,
|
| 1207 |
+
"p95_absolute_error": 0.021080935001373313,
|
| 1208 |
+
"max_absolute_error": 0.2095174938440323
|
| 1209 |
+
},
|
| 1210 |
+
"joint_6": {
|
| 1211 |
+
"count": 317967,
|
| 1212 |
+
"mse": 7.311372479000883e-05,
|
| 1213 |
+
"rmse": 0.008550656395272168,
|
| 1214 |
+
"mae": 0.0058733300323807885,
|
| 1215 |
+
"p95_absolute_error": 0.016365343332290654,
|
| 1216 |
+
"max_absolute_error": 0.11730501055717468
|
| 1217 |
+
},
|
| 1218 |
+
"gripper": {
|
| 1219 |
+
"count": 317967,
|
| 1220 |
+
"mse": 0.0019595839764320042,
|
| 1221 |
+
"rmse": 0.044267188485739684,
|
| 1222 |
+
"mae": 0.014417425434681492,
|
| 1223 |
+
"p95_absolute_error": 0.04958567172288906,
|
| 1224 |
+
"max_absolute_error": 0.8619058132171631
|
| 1225 |
+
}
|
| 1226 |
+
},
|
| 1227 |
+
"first_action": {
|
| 1228 |
+
"count": 119987,
|
| 1229 |
+
"mse": 0.00014783230273087046,
|
| 1230 |
+
"rmse": 0.012158630791782045,
|
| 1231 |
+
"mae": 0.008385113608267896,
|
| 1232 |
+
"p95_absolute_error": 0.025865879654884325,
|
| 1233 |
+
"max_absolute_error": 0.21900057792663574
|
| 1234 |
+
},
|
| 1235 |
+
"valid_plan_steps": 317967
|
| 1236 |
+
},
|
| 1237 |
+
"spline_representation_vs_original_target": {
|
| 1238 |
+
"overall": {
|
| 1239 |
+
"count": 2325673,
|
| 1240 |
+
"mse": 3.7308352464039416e-05,
|
| 1241 |
+
"rmse": 0.006108056357307079,
|
| 1242 |
+
"mae": 0.001015166437712316,
|
| 1243 |
+
"p95_absolute_error": 0.0014753341674804688,
|
| 1244 |
+
"max_absolute_error": 0.238247811794281
|
| 1245 |
+
},
|
| 1246 |
+
"arm": {
|
| 1247 |
+
"count": 1993434,
|
| 1248 |
+
"mse": 2.1186818462437248e-07,
|
| 1249 |
+
"rmse": 0.0004602914127206508,
|
| 1250 |
+
"mae": 0.00029355971644455384,
|
| 1251 |
+
"p95_absolute_error": 0.0010460853110998774,
|
| 1252 |
+
"max_absolute_error": 0.0035028457641601562
|
| 1253 |
+
},
|
| 1254 |
+
"gripper": {
|
| 1255 |
+
"count": 332239,
|
| 1256 |
+
"mse": 0.00025988725814052977,
|
| 1257 |
+
"rmse": 0.016121019140877223,
|
| 1258 |
+
"mae": 0.005344806765318888,
|
| 1259 |
+
"p95_absolute_error": 0.03149988055229178,
|
| 1260 |
+
"max_absolute_error": 0.238247811794281
|
| 1261 |
+
},
|
| 1262 |
+
"per_horizon": [
|
| 1263 |
+
{
|
| 1264 |
+
"count": 119987,
|
| 1265 |
+
"mse": 3.1461737825479366e-05,
|
| 1266 |
+
"rmse": 0.005609076379002105,
|
| 1267 |
+
"mae": 0.0008965203729360956,
|
| 1268 |
+
"p95_absolute_error": 0.0013404153287410732,
|
| 1269 |
+
"max_absolute_error": 0.23820358514785767
|
| 1270 |
+
},
|
| 1271 |
+
{
|
| 1272 |
+
"count": 119623,
|
| 1273 |
+
"mse": 3.1549692696887676e-05,
|
| 1274 |
+
"rmse": 0.005616911312891425,
|
| 1275 |
+
"mae": 0.0008948185710341168,
|
| 1276 |
+
"p95_absolute_error": 0.0013339161872863749,
|
| 1277 |
+
"max_absolute_error": 0.2382158637046814
|
| 1278 |
+
},
|
| 1279 |
+
{
|
| 1280 |
+
"count": 119259,
|
| 1281 |
+
"mse": 3.164552954192519e-05,
|
| 1282 |
+
"rmse": 0.005625435942389282,
|
| 1283 |
+
"mae": 0.0008970040645124183,
|
| 1284 |
+
"p95_absolute_error": 0.001343077421188354,
|
| 1285 |
+
"max_absolute_error": 0.23820358514785767
|
| 1286 |
+
},
|
| 1287 |
+
{
|
| 1288 |
+
"count": 118895,
|
| 1289 |
+
"mse": 3.1742950695647256e-05,
|
| 1290 |
+
"rmse": 0.005634088275457464,
|
| 1291 |
+
"mae": 0.0008991316731189197,
|
| 1292 |
+
"p95_absolute_error": 0.0013437837362289418,
|
| 1293 |
+
"max_absolute_error": 0.23812329769134521
|
| 1294 |
+
},
|
| 1295 |
+
{
|
| 1296 |
+
"count": 118531,
|
| 1297 |
+
"mse": 3.1839538698669546e-05,
|
| 1298 |
+
"rmse": 0.005642653515737923,
|
| 1299 |
+
"mae": 0.0009016193774787608,
|
| 1300 |
+
"p95_absolute_error": 0.0013456940650939941,
|
| 1301 |
+
"max_absolute_error": 0.23822754621505737
|
| 1302 |
+
},
|
| 1303 |
+
{
|
| 1304 |
+
"count": 118167,
|
| 1305 |
+
"mse": 3.1935721015619244e-05,
|
| 1306 |
+
"rmse": 0.0056511698802654345,
|
| 1307 |
+
"mae": 0.0009041493286272574,
|
| 1308 |
+
"p95_absolute_error": 0.0013490557670593258,
|
| 1309 |
+
"max_absolute_error": 0.23820191621780396
|
| 1310 |
+
},
|
| 1311 |
+
{
|
| 1312 |
+
"count": 117803,
|
| 1313 |
+
"mse": 3.2034094221580427e-05,
|
| 1314 |
+
"rmse": 0.005659866979141862,
|
| 1315 |
+
"mae": 0.0009066876690892488,
|
| 1316 |
+
"p95_absolute_error": 0.0013506278395652763,
|
| 1317 |
+
"max_absolute_error": 0.2380799651145935
|
| 1318 |
+
},
|
| 1319 |
+
{
|
| 1320 |
+
"count": 117439,
|
| 1321 |
+
"mse": 3.213359954316927e-05,
|
| 1322 |
+
"rmse": 0.005668650592792721,
|
| 1323 |
+
"mae": 0.0009091576846042909,
|
| 1324 |
+
"p95_absolute_error": 0.0013528853654861416,
|
| 1325 |
+
"max_absolute_error": 0.238247811794281
|
| 1326 |
+
},
|
| 1327 |
+
{
|
| 1328 |
+
"count": 117075,
|
| 1329 |
+
"mse": 3.22342913739483e-05,
|
| 1330 |
+
"rmse": 0.0056775251099355165,
|
| 1331 |
+
"mae": 0.0009116661768621562,
|
| 1332 |
+
"p95_absolute_error": 0.001356466859579086,
|
| 1333 |
+
"max_absolute_error": 0.2381293773651123
|
| 1334 |
+
},
|
| 1335 |
+
{
|
| 1336 |
+
"count": 116711,
|
| 1337 |
+
"mse": 3.2335068147484625e-05,
|
| 1338 |
+
"rmse": 0.005686393245941106,
|
| 1339 |
+
"mae": 0.0009141670834420318,
|
| 1340 |
+
"p95_absolute_error": 0.0013583116233348846,
|
| 1341 |
+
"max_absolute_error": 0.23810023069381714
|
| 1342 |
+
},
|
| 1343 |
+
{
|
| 1344 |
+
"count": 115822,
|
| 1345 |
+
"mse": 3.2582925875785655e-05,
|
| 1346 |
+
"rmse": 0.005708145572406651,
|
| 1347 |
+
"mae": 0.0009199472488453638,
|
| 1348 |
+
"p95_absolute_error": 0.0013636350631713867,
|
| 1349 |
+
"max_absolute_error": 0.23822909593582153
|
| 1350 |
+
},
|
| 1351 |
+
{
|
| 1352 |
+
"count": 113386,
|
| 1353 |
+
"mse": 3.326858245696995e-05,
|
| 1354 |
+
"rmse": 0.0057678923756403384,
|
| 1355 |
+
"mae": 0.0009340177955081176,
|
| 1356 |
+
"p95_absolute_error": 0.0013748332858085632,
|
| 1357 |
+
"max_absolute_error": 0.23822909593582153
|
| 1358 |
+
},
|
| 1359 |
+
{
|
| 1360 |
+
"count": 108934,
|
| 1361 |
+
"mse": 3.457334200231268e-05,
|
| 1362 |
+
"rmse": 0.005879910033522,
|
| 1363 |
+
"mae": 0.0009582105825242424,
|
| 1364 |
+
"p95_absolute_error": 0.0013908594846725438,
|
| 1365 |
+
"max_absolute_error": 0.23822909593582153
|
| 1366 |
+
},
|
| 1367 |
+
{
|
| 1368 |
+
"count": 102011,
|
| 1369 |
+
"mse": 3.6733538642318664e-05,
|
| 1370 |
+
"rmse": 0.006060819964519542,
|
| 1371 |
+
"mae": 0.0009966679114364755,
|
| 1372 |
+
"p95_absolute_error": 0.0014205574989318848,
|
| 1373 |
+
"max_absolute_error": 0.23822909593582153
|
| 1374 |
+
},
|
| 1375 |
+
{
|
| 1376 |
+
"count": 93996,
|
| 1377 |
+
"mse": 3.955235711318763e-05,
|
| 1378 |
+
"rmse": 0.006289066473904345,
|
| 1379 |
+
"mae": 0.0010463942627000613,
|
| 1380 |
+
"p95_absolute_error": 0.001460609957575798,
|
| 1381 |
+
"max_absolute_error": 0.23822909593582153
|
| 1382 |
+
},
|
| 1383 |
+
{
|
| 1384 |
+
"count": 85449,
|
| 1385 |
+
"mse": 4.299910144865611e-05,
|
| 1386 |
+
"rmse": 0.006557370010046414,
|
| 1387 |
+
"mae": 0.001103210002766352,
|
| 1388 |
+
"p95_absolute_error": 0.0015067577362060536,
|
| 1389 |
+
"max_absolute_error": 0.23822909593582153
|
| 1390 |
+
},
|
| 1391 |
+
{
|
| 1392 |
+
"count": 76657,
|
| 1393 |
+
"mse": 4.636970822029989e-05,
|
| 1394 |
+
"rmse": 0.006809530690165064,
|
| 1395 |
+
"mae": 0.0011565279548012546,
|
| 1396 |
+
"p95_absolute_error": 0.0015769362449645974,
|
| 1397 |
+
"max_absolute_error": 0.23822909593582153
|
| 1398 |
+
},
|
| 1399 |
+
{
|
| 1400 |
+
"count": 67809,
|
| 1401 |
+
"mse": 4.959480555336307e-05,
|
| 1402 |
+
"rmse": 0.007042357954077815,
|
| 1403 |
+
"mae": 0.0012080454825786372,
|
| 1404 |
+
"p95_absolute_error": 0.0016783654689788814,
|
| 1405 |
+
"max_absolute_error": 0.23822909593582153
|
| 1406 |
+
},
|
| 1407 |
+
{
|
| 1408 |
+
"count": 59948,
|
| 1409 |
+
"mse": 5.1828905135945e-05,
|
| 1410 |
+
"rmse": 0.007199229482100498,
|
| 1411 |
+
"mae": 0.001244853119164092,
|
| 1412 |
+
"p95_absolute_error": 0.0018094658851623494,
|
| 1413 |
+
"max_absolute_error": 0.23822909593582153
|
| 1414 |
+
},
|
| 1415 |
+
{
|
| 1416 |
+
"count": 52899,
|
| 1417 |
+
"mse": 5.3369003952527965e-05,
|
| 1418 |
+
"rmse": 0.007305409225534731,
|
| 1419 |
+
"mae": 0.0012764662634859982,
|
| 1420 |
+
"p95_absolute_error": 0.002011674642562859,
|
| 1421 |
+
"max_absolute_error": 0.23822909593582153
|
| 1422 |
+
},
|
| 1423 |
+
{
|
| 1424 |
+
"count": 46186,
|
| 1425 |
+
"mse": 5.367405244115904e-05,
|
| 1426 |
+
"rmse": 0.007326257737833078,
|
| 1427 |
+
"mae": 0.0012981639830472607,
|
| 1428 |
+
"p95_absolute_error": 0.0023409612476825714,
|
| 1429 |
+
"max_absolute_error": 0.23822909593582153
|
| 1430 |
+
},
|
| 1431 |
+
{
|
| 1432 |
+
"count": 39851,
|
| 1433 |
+
"mse": 5.2510558983283005e-05,
|
| 1434 |
+
"rmse": 0.007246416975532322,
|
| 1435 |
+
"mae": 0.0013046533030763698,
|
| 1436 |
+
"p95_absolute_error": 0.0026712939143180847,
|
| 1437 |
+
"max_absolute_error": 0.23822909593582153
|
| 1438 |
+
},
|
| 1439 |
+
{
|
| 1440 |
+
"count": 34279,
|
| 1441 |
+
"mse": 5.189098296070997e-05,
|
| 1442 |
+
"rmse": 0.0072035396133227425,
|
| 1443 |
+
"mae": 0.0013103865000445047,
|
| 1444 |
+
"p95_absolute_error": 0.0029589921236038205,
|
| 1445 |
+
"max_absolute_error": 0.23822909593582153
|
| 1446 |
+
},
|
| 1447 |
+
{
|
| 1448 |
+
"count": 29190,
|
| 1449 |
+
"mse": 5.0404710474413514e-05,
|
| 1450 |
+
"rmse": 0.007099627488425961,
|
| 1451 |
+
"mae": 0.001321455656148456,
|
| 1452 |
+
"p95_absolute_error": 0.003508326411247251,
|
| 1453 |
+
"max_absolute_error": 0.23822909593582153
|
| 1454 |
+
},
|
| 1455 |
+
{
|
| 1456 |
+
"count": 24374,
|
| 1457 |
+
"mse": 4.879995418490061e-05,
|
| 1458 |
+
"rmse": 0.006985696399422223,
|
| 1459 |
+
"mae": 0.0013371353843248997,
|
| 1460 |
+
"p95_absolute_error": 0.003905558586120605,
|
| 1461 |
+
"max_absolute_error": 0.18653827905654907
|
| 1462 |
+
},
|
| 1463 |
+
{
|
| 1464 |
+
"count": 20356,
|
| 1465 |
+
"mse": 4.729626937830524e-05,
|
| 1466 |
+
"rmse": 0.00687722832093753,
|
| 1467 |
+
"mae": 0.00134133054157633,
|
| 1468 |
+
"p95_absolute_error": 0.004356345161795616,
|
| 1469 |
+
"max_absolute_error": 0.18653827905654907
|
| 1470 |
+
},
|
| 1471 |
+
{
|
| 1472 |
+
"count": 16625,
|
| 1473 |
+
"mse": 4.6831958307648126e-05,
|
| 1474 |
+
"rmse": 0.006843387926140686,
|
| 1475 |
+
"mae": 0.0013722980149384393,
|
| 1476 |
+
"p95_absolute_error": 0.005001902580261226,
|
| 1477 |
+
"max_absolute_error": 0.18653827905654907
|
| 1478 |
+
},
|
| 1479 |
+
{
|
| 1480 |
+
"count": 13069,
|
| 1481 |
+
"mse": 4.877920426326922e-05,
|
| 1482 |
+
"rmse": 0.006984211069495911,
|
| 1483 |
+
"mae": 0.0014394825525802463,
|
| 1484 |
+
"p95_absolute_error": 0.005685934424400265,
|
| 1485 |
+
"max_absolute_error": 0.18653827905654907
|
| 1486 |
+
},
|
| 1487 |
+
{
|
| 1488 |
+
"count": 9968,
|
| 1489 |
+
"mse": 4.941160875396316e-05,
|
| 1490 |
+
"rmse": 0.007029339140627884,
|
| 1491 |
+
"mae": 0.001515539144604824,
|
| 1492 |
+
"p95_absolute_error": 0.006702396273612967,
|
| 1493 |
+
"max_absolute_error": 0.18653827905654907
|
| 1494 |
+
},
|
| 1495 |
+
{
|
| 1496 |
+
"count": 7665,
|
| 1497 |
+
"mse": 5.2290029147276656e-05,
|
| 1498 |
+
"rmse": 0.007231184491304081,
|
| 1499 |
+
"mae": 0.0015975964107814646,
|
| 1500 |
+
"p95_absolute_error": 0.007294312119483904,
|
| 1501 |
+
"max_absolute_error": 0.18653827905654907
|
| 1502 |
+
},
|
| 1503 |
+
{
|
| 1504 |
+
"count": 6034,
|
| 1505 |
+
"mse": 5.852425559210426e-05,
|
| 1506 |
+
"rmse": 0.007650114743721447,
|
| 1507 |
+
"mae": 0.0017050095422901932,
|
| 1508 |
+
"p95_absolute_error": 0.008004727214574774,
|
| 1509 |
+
"max_absolute_error": 0.18653827905654907
|
| 1510 |
+
},
|
| 1511 |
+
{
|
| 1512 |
+
"count": 4641,
|
| 1513 |
+
"mse": 6.255867758192157e-05,
|
| 1514 |
+
"rmse": 0.007909404375926266,
|
| 1515 |
+
"mae": 0.001763790587203702,
|
| 1516 |
+
"p95_absolute_error": 0.0090714693069458,
|
| 1517 |
+
"max_absolute_error": 0.18653827905654907
|
| 1518 |
+
},
|
| 1519 |
+
{
|
| 1520 |
+
"count": 3521,
|
| 1521 |
+
"mse": 6.42030421627848e-05,
|
| 1522 |
+
"rmse": 0.008012680086137522,
|
| 1523 |
+
"mae": 0.0018442193306352995,
|
| 1524 |
+
"p95_absolute_error": 0.009837448596954346,
|
| 1525 |
+
"max_absolute_error": 0.18653827905654907
|
| 1526 |
+
},
|
| 1527 |
+
{
|
| 1528 |
+
"count": 2646,
|
| 1529 |
+
"mse": 7.145249674651327e-05,
|
| 1530 |
+
"rmse": 0.008452957869675756,
|
| 1531 |
+
"mae": 0.002004012785069166,
|
| 1532 |
+
"p95_absolute_error": 0.010767683386802673,
|
| 1533 |
+
"max_absolute_error": 0.18653827905654907
|
| 1534 |
+
},
|
| 1535 |
+
{
|
| 1536 |
+
"count": 1974,
|
| 1537 |
+
"mse": 6.629606143245952e-05,
|
| 1538 |
+
"rmse": 0.00814223933770431,
|
| 1539 |
+
"mae": 0.002084117223887979,
|
| 1540 |
+
"p95_absolute_error": 0.011540819704532612,
|
| 1541 |
+
"max_absolute_error": 0.09465628862380981
|
| 1542 |
+
},
|
| 1543 |
+
{
|
| 1544 |
+
"count": 1491,
|
| 1545 |
+
"mse": 6.785647572209339e-05,
|
| 1546 |
+
"rmse": 0.008237504216817943,
|
| 1547 |
+
"mae": 0.002115086648278413,
|
| 1548 |
+
"p95_absolute_error": 0.011136740446090698,
|
| 1549 |
+
"max_absolute_error": 0.09465628862380981
|
| 1550 |
+
},
|
| 1551 |
+
{
|
| 1552 |
+
"count": 1071,
|
| 1553 |
+
"mse": 6.43238949040341e-05,
|
| 1554 |
+
"rmse": 0.008020217883825483,
|
| 1555 |
+
"mae": 0.0020969733821939464,
|
| 1556 |
+
"p95_absolute_error": 0.01155923306941986,
|
| 1557 |
+
"max_absolute_error": 0.09465628862380981
|
| 1558 |
+
},
|
| 1559 |
+
{
|
| 1560 |
+
"count": 721,
|
| 1561 |
+
"mse": 5.2972411342443547e-05,
|
| 1562 |
+
"rmse": 0.0072782148458563345,
|
| 1563 |
+
"mae": 0.0019452086909468726,
|
| 1564 |
+
"p95_absolute_error": 0.011497855186462402,
|
| 1565 |
+
"max_absolute_error": 0.07690546661615372
|
| 1566 |
+
},
|
| 1567 |
+
{
|
| 1568 |
+
"count": 497,
|
| 1569 |
+
"mse": 4.361556717291524e-05,
|
| 1570 |
+
"rmse": 0.0066042082926657635,
|
| 1571 |
+
"mae": 0.0017460919935368675,
|
| 1572 |
+
"p95_absolute_error": 0.009128820896148679,
|
| 1573 |
+
"max_absolute_error": 0.06068624556064606
|
| 1574 |
+
},
|
| 1575 |
+
{
|
| 1576 |
+
"count": 378,
|
| 1577 |
+
"mse": 3.5176993214938574e-05,
|
| 1578 |
+
"rmse": 0.005931019576340865,
|
| 1579 |
+
"mae": 0.001636996217288826,
|
| 1580 |
+
"p95_absolute_error": 0.009117642045021052,
|
| 1581 |
+
"max_absolute_error": 0.05161702632904053
|
| 1582 |
+
},
|
| 1583 |
+
{
|
| 1584 |
+
"count": 259,
|
| 1585 |
+
"mse": 2.5641241135825924e-05,
|
| 1586 |
+
"rmse": 0.005063718113780221,
|
| 1587 |
+
"mae": 0.0014484104265289877,
|
| 1588 |
+
"p95_absolute_error": 0.010539019107818598,
|
| 1589 |
+
"max_absolute_error": 0.05161702632904053
|
| 1590 |
+
},
|
| 1591 |
+
{
|
| 1592 |
+
"count": 175,
|
| 1593 |
+
"mse": 1.607166748064772e-05,
|
| 1594 |
+
"rmse": 0.004008948425790449,
|
| 1595 |
+
"mae": 0.001276769872222628,
|
| 1596 |
+
"p95_absolute_error": 0.007809841632842954,
|
| 1597 |
+
"max_absolute_error": 0.023360729217529297
|
| 1598 |
+
},
|
| 1599 |
+
{
|
| 1600 |
+
"count": 126,
|
| 1601 |
+
"mse": 8.684433916956025e-06,
|
| 1602 |
+
"rmse": 0.002946936361198868,
|
| 1603 |
+
"mae": 0.0010337591954758243,
|
| 1604 |
+
"p95_absolute_error": 0.005745932459831238,
|
| 1605 |
+
"max_absolute_error": 0.01612144708633423
|
| 1606 |
+
},
|
| 1607 |
+
{
|
| 1608 |
+
"count": 84,
|
| 1609 |
+
"mse": 8.908892819587094e-06,
|
| 1610 |
+
"rmse": 0.0029847768458608585,
|
| 1611 |
+
"mae": 0.0010346904995718173,
|
| 1612 |
+
"p95_absolute_error": 0.005812716484069813,
|
| 1613 |
+
"max_absolute_error": 0.014883279800415039
|
| 1614 |
+
},
|
| 1615 |
+
{
|
| 1616 |
+
"count": 42,
|
| 1617 |
+
"mse": 8.84990070548214e-06,
|
| 1618 |
+
"rmse": 0.0029748782673383696,
|
| 1619 |
+
"mae": 0.0010437206143424625,
|
| 1620 |
+
"p95_absolute_error": 0.004076412320137022,
|
| 1621 |
+
"max_absolute_error": 0.014883279800415039
|
| 1622 |
+
},
|
| 1623 |
+
{
|
| 1624 |
+
"count": 28,
|
| 1625 |
+
"mse": 4.696307050870435e-06,
|
| 1626 |
+
"rmse": 0.002167096456291329,
|
| 1627 |
+
"mae": 0.0007772969215043954,
|
| 1628 |
+
"p95_absolute_error": 0.0033215016126632683,
|
| 1629 |
+
"max_absolute_error": 0.01043248176574707
|
| 1630 |
+
},
|
| 1631 |
+
{
|
| 1632 |
+
"count": 14,
|
| 1633 |
+
"mse": 1.5593786817221997e-06,
|
| 1634 |
+
"rmse": 0.001248750848537129,
|
| 1635 |
+
"mae": 0.0006119612870471818,
|
| 1636 |
+
"p95_absolute_error": 0.0031686693429946898,
|
| 1637 |
+
"max_absolute_error": 0.0034998059272766113
|
| 1638 |
+
},
|
| 1639 |
+
{
|
| 1640 |
+
"count": 7,
|
| 1641 |
+
"mse": 1.3147662143612074e-06,
|
| 1642 |
+
"rmse": 0.001146632554204357,
|
| 1643 |
+
"mae": 0.0005652269880686488,
|
| 1644 |
+
"p95_absolute_error": 0.002225738763809202,
|
| 1645 |
+
"max_absolute_error": 0.0029903650283813477
|
| 1646 |
+
},
|
| 1647 |
+
null,
|
| 1648 |
+
null,
|
| 1649 |
+
null,
|
| 1650 |
+
null,
|
| 1651 |
+
null,
|
| 1652 |
+
null,
|
| 1653 |
+
null,
|
| 1654 |
+
null,
|
| 1655 |
+
null,
|
| 1656 |
+
null,
|
| 1657 |
+
null,
|
| 1658 |
+
null,
|
| 1659 |
+
null,
|
| 1660 |
+
null,
|
| 1661 |
+
null,
|
| 1662 |
+
null
|
| 1663 |
+
],
|
| 1664 |
+
"per_dimension": {
|
| 1665 |
+
"joint_1": {
|
| 1666 |
+
"count": 332239,
|
| 1667 |
+
"mse": 2.1023453313648893e-07,
|
| 1668 |
+
"rmse": 0.0004585133947187246,
|
| 1669 |
+
"mae": 0.000300874284555109,
|
| 1670 |
+
"p95_absolute_error": 0.001041710376739502,
|
| 1671 |
+
"max_absolute_error": 0.0035028457641601562
|
| 1672 |
+
},
|
| 1673 |
+
"joint_2": {
|
| 1674 |
+
"count": 332239,
|
| 1675 |
+
"mse": 3.977566466653983e-07,
|
| 1676 |
+
"rmse": 0.0006306795118484494,
|
| 1677 |
+
"mae": 0.00046617479829963806,
|
| 1678 |
+
"p95_absolute_error": 0.0013279914855957031,
|
| 1679 |
+
"max_absolute_error": 0.002883434295654297
|
| 1680 |
+
},
|
| 1681 |
+
"joint_3": {
|
| 1682 |
+
"count": 332239,
|
| 1683 |
+
"mse": 2.1906193499467657e-07,
|
| 1684 |
+
"rmse": 0.0004680405270857178,
|
| 1685 |
+
"mae": 0.00031770419644363467,
|
| 1686 |
+
"p95_absolute_error": 0.0010285377502441406,
|
| 1687 |
+
"max_absolute_error": 0.0027534617111086845
|
| 1688 |
+
},
|
| 1689 |
+
"joint_4": {
|
| 1690 |
+
"count": 332239,
|
| 1691 |
+
"mse": 9.972618756857347e-08,
|
| 1692 |
+
"rmse": 0.0003157945337851393,
|
| 1693 |
+
"mae": 0.00016721851814609296,
|
| 1694 |
+
"p95_absolute_error": 0.000745934434235096,
|
| 1695 |
+
"max_absolute_error": 0.002295546233654022
|
| 1696 |
+
},
|
| 1697 |
+
"joint_5": {
|
| 1698 |
+
"count": 332239,
|
| 1699 |
+
"mse": 2.279878361268035e-07,
|
| 1700 |
+
"rmse": 0.00047748071806807393,
|
| 1701 |
+
"mae": 0.00032880981707289123,
|
| 1702 |
+
"p95_absolute_error": 0.0010373592376708984,
|
| 1703 |
+
"max_absolute_error": 0.002486955374479294
|
| 1704 |
+
},
|
| 1705 |
+
"joint_6": {
|
| 1706 |
+
"count": 332239,
|
| 1707 |
+
"mse": 1.1644196925429397e-07,
|
| 1708 |
+
"rmse": 0.0003412359436728405,
|
| 1709 |
+
"mae": 0.00018057668414995715,
|
| 1710 |
+
"p95_absolute_error": 0.0008153483271598812,
|
| 1711 |
+
"max_absolute_error": 0.0023775380104780197
|
| 1712 |
+
},
|
| 1713 |
+
"gripper": {
|
| 1714 |
+
"count": 332239,
|
| 1715 |
+
"mse": 0.00025988725814052977,
|
| 1716 |
+
"rmse": 0.016121019140877223,
|
| 1717 |
+
"mae": 0.005344806765318888,
|
| 1718 |
+
"p95_absolute_error": 0.03149988055229178,
|
| 1719 |
+
"max_absolute_error": 0.238247811794281
|
| 1720 |
+
}
|
| 1721 |
+
},
|
| 1722 |
+
"first_action": {
|
| 1723 |
+
"count": 119987,
|
| 1724 |
+
"mse": 3.1461737825479366e-05,
|
| 1725 |
+
"rmse": 0.005609076379002105,
|
| 1726 |
+
"mae": 0.0008965203729360956,
|
| 1727 |
+
"p95_absolute_error": 0.0013404153287410732,
|
| 1728 |
+
"max_absolute_error": 0.23820358514785767
|
| 1729 |
+
},
|
| 1730 |
+
"valid_plan_steps": 332239
|
| 1731 |
+
},
|
| 1732 |
+
"current_action_persistence_baseline_vs_original_target": {
|
| 1733 |
+
"overall": {
|
| 1734 |
+
"count": 2275420,
|
| 1735 |
+
"mse": 0.00910049197160509,
|
| 1736 |
+
"rmse": 0.09539649873871205,
|
| 1737 |
+
"mae": 0.03983083737665395,
|
| 1738 |
+
"p95_absolute_error": 0.20748472213745117,
|
| 1739 |
+
"max_absolute_error": 0.7610000371932983
|
| 1740 |
+
},
|
| 1741 |
+
"arm": {
|
| 1742 |
+
"count": 1950360,
|
| 1743 |
+
"mse": 0.005070158754010019,
|
| 1744 |
+
"rmse": 0.07120504725094998,
|
| 1745 |
+
"mae": 0.0343924593671712,
|
| 1746 |
+
"p95_absolute_error": 0.1754055917263031,
|
| 1747 |
+
"max_absolute_error": 0.6561565399169922
|
| 1748 |
+
},
|
| 1749 |
+
"gripper": {
|
| 1750 |
+
"count": 325060,
|
| 1751 |
+
"mse": 0.03328249127717551,
|
| 1752 |
+
"rmse": 0.1824348959962855,
|
| 1753 |
+
"mae": 0.07246110543355049,
|
| 1754 |
+
"p95_absolute_error": 0.460999995470047,
|
| 1755 |
+
"max_absolute_error": 0.7610000371932983
|
| 1756 |
+
},
|
| 1757 |
+
"per_horizon": [
|
| 1758 |
+
{
|
| 1759 |
+
"count": 119987,
|
| 1760 |
+
"mse": 0.0,
|
| 1761 |
+
"rmse": 0.0,
|
| 1762 |
+
"mae": 0.0,
|
| 1763 |
+
"p95_absolute_error": 0.0,
|
| 1764 |
+
"max_absolute_error": 0.0
|
| 1765 |
+
},
|
| 1766 |
+
{
|
| 1767 |
+
"count": 119623,
|
| 1768 |
+
"mse": 0.00023300592025939147,
|
| 1769 |
+
"rmse": 0.01526453144578606,
|
| 1770 |
+
"mae": 0.005266005501949104,
|
| 1771 |
+
"p95_absolute_error": 0.02439790964126577,
|
| 1772 |
+
"max_absolute_error": 0.34200000762939453
|
| 1773 |
+
},
|
| 1774 |
+
{
|
| 1775 |
+
"count": 119259,
|
| 1776 |
+
"mse": 0.0008528566743109419,
|
| 1777 |
+
"rmse": 0.029203709940878092,
|
| 1778 |
+
"mae": 0.010534885769711212,
|
| 1779 |
+
"p95_absolute_error": 0.048853495717048494,
|
| 1780 |
+
"max_absolute_error": 0.5349999666213989
|
| 1781 |
+
},
|
| 1782 |
+
{
|
| 1783 |
+
"count": 118895,
|
| 1784 |
+
"mse": 0.0017543464822011542,
|
| 1785 |
+
"rmse": 0.041884919508113586,
|
| 1786 |
+
"mae": 0.015823512728487848,
|
| 1787 |
+
"p95_absolute_error": 0.07347835004329681,
|
| 1788 |
+
"max_absolute_error": 0.6159999966621399
|
| 1789 |
+
},
|
| 1790 |
+
{
|
| 1791 |
+
"count": 118531,
|
| 1792 |
+
"mse": 0.002860074383992946,
|
| 1793 |
+
"rmse": 0.053479663274865016,
|
| 1794 |
+
"mae": 0.02111080461449178,
|
| 1795 |
+
"p95_absolute_error": 0.09816604852676392,
|
| 1796 |
+
"max_absolute_error": 0.6800000071525574
|
| 1797 |
+
},
|
| 1798 |
+
{
|
| 1799 |
+
"count": 118167,
|
| 1800 |
+
"mse": 0.004117465725278343,
|
| 1801 |
+
"rmse": 0.06416748183681781,
|
| 1802 |
+
"mae": 0.02638454079782879,
|
| 1803 |
+
"p95_absolute_error": 0.12312772274017329,
|
| 1804 |
+
"max_absolute_error": 0.7150000333786011
|
| 1805 |
+
},
|
| 1806 |
+
{
|
| 1807 |
+
"count": 117803,
|
| 1808 |
+
"mse": 0.00548560623768233,
|
| 1809 |
+
"rmse": 0.0740648785706311,
|
| 1810 |
+
"mae": 0.03162062467559812,
|
| 1811 |
+
"p95_absolute_error": 0.14784335494041423,
|
| 1812 |
+
"max_absolute_error": 0.734000027179718
|
| 1813 |
+
},
|
| 1814 |
+
{
|
| 1815 |
+
"count": 117439,
|
| 1816 |
+
"mse": 0.0069313220631339,
|
| 1817 |
+
"rmse": 0.08325456181575819,
|
| 1818 |
+
"mae": 0.03680046985221374,
|
| 1819 |
+
"p95_absolute_error": 0.17257990241050705,
|
| 1820 |
+
"max_absolute_error": 0.75
|
| 1821 |
+
},
|
| 1822 |
+
{
|
| 1823 |
+
"count": 117075,
|
| 1824 |
+
"mse": 0.008432886203427596,
|
| 1825 |
+
"rmse": 0.09183074759266417,
|
| 1826 |
+
"mae": 0.041904621848757685,
|
| 1827 |
+
"p95_absolute_error": 0.1970634102821344,
|
| 1828 |
+
"max_absolute_error": 0.7590000033378601
|
| 1829 |
+
},
|
| 1830 |
+
{
|
| 1831 |
+
"count": 116711,
|
| 1832 |
+
"mse": 0.009982535576291848,
|
| 1833 |
+
"rmse": 0.0999126397223687,
|
| 1834 |
+
"mae": 0.04693481742949032,
|
| 1835 |
+
"p95_absolute_error": 0.2214822992682457,
|
| 1836 |
+
"max_absolute_error": 0.7610000371932983
|
| 1837 |
+
},
|
| 1838 |
+
{
|
| 1839 |
+
"count": 111461,
|
| 1840 |
+
"mse": 0.011133813744103402,
|
| 1841 |
+
"rmse": 0.10551688843073133,
|
| 1842 |
+
"mae": 0.04994187129048272,
|
| 1843 |
+
"p95_absolute_error": 0.23795819282531738,
|
| 1844 |
+
"max_absolute_error": 0.7610000371932983
|
| 1845 |
+
},
|
| 1846 |
+
{
|
| 1847 |
+
"count": 106001,
|
| 1848 |
+
"mse": 0.012182318133122929,
|
| 1849 |
+
"rmse": 0.11037353909847654,
|
| 1850 |
+
"mae": 0.052582903572472584,
|
| 1851 |
+
"p95_absolute_error": 0.25268876552581787,
|
| 1852 |
+
"max_absolute_error": 0.7610000371932983
|
| 1853 |
+
},
|
| 1854 |
+
{
|
| 1855 |
+
"count": 100135,
|
| 1856 |
+
"mse": 0.013123567147988334,
|
| 1857 |
+
"rmse": 0.114558138724354,
|
| 1858 |
+
"mae": 0.05480816663691134,
|
| 1859 |
+
"p95_absolute_error": 0.26535987854003906,
|
| 1860 |
+
"max_absolute_error": 0.7610000371932983
|
| 1861 |
+
},
|
| 1862 |
+
{
|
| 1863 |
+
"count": 93674,
|
| 1864 |
+
"mse": 0.013846840792965096,
|
| 1865 |
+
"rmse": 0.11767260000936962,
|
| 1866 |
+
"mae": 0.05636443530962551,
|
| 1867 |
+
"p95_absolute_error": 0.27664690762758226,
|
| 1868 |
+
"max_absolute_error": 0.7610000371932983
|
| 1869 |
+
},
|
| 1870 |
+
{
|
| 1871 |
+
"count": 87353,
|
| 1872 |
+
"mse": 0.014542242536544035,
|
| 1873 |
+
"rmse": 0.12059122081040574,
|
| 1874 |
+
"mae": 0.057882147213741804,
|
| 1875 |
+
"p95_absolute_error": 0.2858046770095824,
|
| 1876 |
+
"max_absolute_error": 0.7610000371932983
|
| 1877 |
+
},
|
| 1878 |
+
{
|
| 1879 |
+
"count": 80493,
|
| 1880 |
+
"mse": 0.015029665363352625,
|
| 1881 |
+
"rmse": 0.12259553565832904,
|
| 1882 |
+
"mae": 0.058902021407567805,
|
| 1883 |
+
"p95_absolute_error": 0.29210179448127715,
|
| 1884 |
+
"max_absolute_error": 0.7610000371932983
|
| 1885 |
+
},
|
| 1886 |
+
{
|
| 1887 |
+
"count": 73360,
|
| 1888 |
+
"mse": 0.015315818181389773,
|
| 1889 |
+
"rmse": 0.12375709345887925,
|
| 1890 |
+
"mae": 0.059441699083412895,
|
| 1891 |
+
"p95_absolute_error": 0.2962181925773621,
|
| 1892 |
+
"max_absolute_error": 0.7610000371932983
|
| 1893 |
+
},
|
| 1894 |
+
{
|
| 1895 |
+
"count": 66164,
|
| 1896 |
+
"mse": 0.015414500090468722,
|
| 1897 |
+
"rmse": 0.1241551452436375,
|
| 1898 |
+
"mae": 0.05961236948572145,
|
| 1899 |
+
"p95_absolute_error": 0.29845130443573,
|
| 1900 |
+
"max_absolute_error": 0.7580000162124634
|
| 1901 |
+
},
|
| 1902 |
+
{
|
| 1903 |
+
"count": 59024,
|
| 1904 |
+
"mse": 0.015424621943230658,
|
| 1905 |
+
"rmse": 0.12419590147517211,
|
| 1906 |
+
"mae": 0.059718613039869896,
|
| 1907 |
+
"p95_absolute_error": 0.2989988550543785,
|
| 1908 |
+
"max_absolute_error": 0.7559999823570251
|
| 1909 |
+
},
|
| 1910 |
+
{
|
| 1911 |
+
"count": 51877,
|
| 1912 |
+
"mse": 0.015325276731101239,
|
| 1913 |
+
"rmse": 0.12379530173274444,
|
| 1914 |
+
"mae": 0.05946332729882675,
|
| 1915 |
+
"p95_absolute_error": 0.30326495170593215,
|
| 1916 |
+
"max_absolute_error": 0.7559999823570251
|
| 1917 |
+
},
|
| 1918 |
+
{
|
| 1919 |
+
"count": 45108,
|
| 1920 |
+
"mse": 0.01534295981808449,
|
| 1921 |
+
"rmse": 0.12386670181321731,
|
| 1922 |
+
"mae": 0.05935151375423835,
|
| 1923 |
+
"p95_absolute_error": 0.3122350454330448,
|
| 1924 |
+
"max_absolute_error": 0.753000020980835
|
| 1925 |
+
},
|
| 1926 |
+
{
|
| 1927 |
+
"count": 39088,
|
| 1928 |
+
"mse": 0.015552681574612221,
|
| 1929 |
+
"rmse": 0.12471039080450443,
|
| 1930 |
+
"mae": 0.05970340110050137,
|
| 1931 |
+
"p95_absolute_error": 0.32896757721900954,
|
| 1932 |
+
"max_absolute_error": 0.753000020980835
|
| 1933 |
+
},
|
| 1934 |
+
{
|
| 1935 |
+
"count": 33474,
|
| 1936 |
+
"mse": 0.015845023842849953,
|
| 1937 |
+
"rmse": 0.12587701872403062,
|
| 1938 |
+
"mae": 0.060158538577857086,
|
| 1939 |
+
"p95_absolute_error": 0.35804496258497026,
|
| 1940 |
+
"max_absolute_error": 0.7490000128746033
|
| 1941 |
+
},
|
| 1942 |
+
{
|
| 1943 |
+
"count": 28665,
|
| 1944 |
+
"mse": 0.01622627815851824,
|
| 1945 |
+
"rmse": 0.127382409140816,
|
| 1946 |
+
"mae": 0.060698179075350314,
|
| 1947 |
+
"p95_absolute_error": 0.3974129080772396,
|
| 1948 |
+
"max_absolute_error": 0.7459999918937683
|
| 1949 |
+
},
|
| 1950 |
+
{
|
| 1951 |
+
"count": 24304,
|
| 1952 |
+
"mse": 0.016577505854716276,
|
| 1953 |
+
"rmse": 0.12875366346134107,
|
| 1954 |
+
"mae": 0.06125373473511874,
|
| 1955 |
+
"p95_absolute_error": 0.41684999763965463,
|
| 1956 |
+
"max_absolute_error": 0.7450000047683716
|
| 1957 |
+
},
|
| 1958 |
+
{
|
| 1959 |
+
"count": 20132,
|
| 1960 |
+
"mse": 0.016941945796703498,
|
| 1961 |
+
"rmse": 0.1301612300061101,
|
| 1962 |
+
"mae": 0.06159953088291779,
|
| 1963 |
+
"p95_absolute_error": 0.42499998211860657,
|
| 1964 |
+
"max_absolute_error": 0.7350000143051147
|
| 1965 |
+
},
|
| 1966 |
+
{
|
| 1967 |
+
"count": 16499,
|
| 1968 |
+
"mse": 0.01740552733907872,
|
| 1969 |
+
"rmse": 0.13193000924383627,
|
| 1970 |
+
"mae": 0.06221035702042388,
|
| 1971 |
+
"p95_absolute_error": 0.4339999556541443,
|
| 1972 |
+
"max_absolute_error": 0.7149999737739563
|
| 1973 |
+
},
|
| 1974 |
+
{
|
| 1975 |
+
"count": 13111,
|
| 1976 |
+
"mse": 0.018129812904557133,
|
| 1977 |
+
"rmse": 0.13464699367069854,
|
| 1978 |
+
"mae": 0.06316216049976961,
|
| 1979 |
+
"p95_absolute_error": 0.437999963760376,
|
| 1980 |
+
"max_absolute_error": 0.6589999794960022
|
| 1981 |
+
},
|
| 1982 |
+
{
|
| 1983 |
+
"count": 10094,
|
| 1984 |
+
"mse": 0.01876116106445075,
|
| 1985 |
+
"rmse": 0.13697138775835904,
|
| 1986 |
+
"mae": 0.06401855628185754,
|
| 1987 |
+
"p95_absolute_error": 0.4403499931097034,
|
| 1988 |
+
"max_absolute_error": 0.6129999756813049
|
| 1989 |
+
},
|
| 1990 |
+
{
|
| 1991 |
+
"count": 7861,
|
| 1992 |
+
"mse": 0.01963060296539168,
|
| 1993 |
+
"rmse": 0.14010925367509341,
|
| 1994 |
+
"mae": 0.06523396966152493,
|
| 1995 |
+
"p95_absolute_error": 0.44199997186660767,
|
| 1996 |
+
"max_absolute_error": 0.6129999756813049
|
| 1997 |
+
},
|
| 1998 |
+
{
|
| 1999 |
+
"count": 6069,
|
| 2000 |
+
"mse": 0.020443695105684476,
|
| 2001 |
+
"rmse": 0.14298145021534953,
|
| 2002 |
+
"mae": 0.06627729650902425,
|
| 2003 |
+
"p95_absolute_error": 0.4445999979972834,
|
| 2004 |
+
"max_absolute_error": 0.6129999756813049
|
| 2005 |
+
},
|
| 2006 |
+
{
|
| 2007 |
+
"count": 4711,
|
| 2008 |
+
"mse": 0.021158924862969993,
|
| 2009 |
+
"rmse": 0.14546107679709372,
|
| 2010 |
+
"mae": 0.06741038596621714,
|
| 2011 |
+
"p95_absolute_error": 0.4449999928474426,
|
| 2012 |
+
"max_absolute_error": 0.6129999756813049
|
| 2013 |
+
},
|
| 2014 |
+
{
|
| 2015 |
+
"count": 3563,
|
| 2016 |
+
"mse": 0.021687018803722553,
|
| 2017 |
+
"rmse": 0.14726513098395883,
|
| 2018 |
+
"mae": 0.06768992432457696,
|
| 2019 |
+
"p95_absolute_error": 0.44600000977516174,
|
| 2020 |
+
"max_absolute_error": 0.6129999756813049
|
| 2021 |
+
},
|
| 2022 |
+
{
|
| 2023 |
+
"count": 2639,
|
| 2024 |
+
"mse": 0.022876451203527912,
|
| 2025 |
+
"rmse": 0.15124963207733072,
|
| 2026 |
+
"mae": 0.06914099222511426,
|
| 2027 |
+
"p95_absolute_error": 0.44600000977516174,
|
| 2028 |
+
"max_absolute_error": 0.6129999756813049
|
| 2029 |
+
},
|
| 2030 |
+
{
|
| 2031 |
+
"count": 1974,
|
| 2032 |
+
"mse": 0.02431858050667951,
|
| 2033 |
+
"rmse": 0.15594415829610134,
|
| 2034 |
+
"mae": 0.0714789926375922,
|
| 2035 |
+
"p95_absolute_error": 0.44899997115135193,
|
| 2036 |
+
"max_absolute_error": 0.5950000286102295
|
| 2037 |
+
},
|
| 2038 |
+
{
|
| 2039 |
+
"count": 1554,
|
| 2040 |
+
"mse": 0.026118013561102608,
|
| 2041 |
+
"rmse": 0.16161068516995591,
|
| 2042 |
+
"mae": 0.07521174720697048,
|
| 2043 |
+
"p95_absolute_error": 0.45109999477863255,
|
| 2044 |
+
"max_absolute_error": 0.5950000286102295
|
| 2045 |
+
},
|
| 2046 |
+
{
|
| 2047 |
+
"count": 1148,
|
| 2048 |
+
"mse": 0.026564575443120558,
|
| 2049 |
+
"rmse": 0.1629864271745367,
|
| 2050 |
+
"mae": 0.07611747324233063,
|
| 2051 |
+
"p95_absolute_error": 0.45499998331069946,
|
| 2052 |
+
"max_absolute_error": 0.5910000205039978
|
| 2053 |
+
},
|
| 2054 |
+
{
|
| 2055 |
+
"count": 770,
|
| 2056 |
+
"mse": 0.027511504020127784,
|
| 2057 |
+
"rmse": 0.1658659218167728,
|
| 2058 |
+
"mae": 0.07813357000130337,
|
| 2059 |
+
"p95_absolute_error": 0.45499998331069946,
|
| 2060 |
+
"max_absolute_error": 0.5910000205039978
|
| 2061 |
+
},
|
| 2062 |
+
{
|
| 2063 |
+
"count": 553,
|
| 2064 |
+
"mse": 0.028180129019458933,
|
| 2065 |
+
"rmse": 0.16786938082765104,
|
| 2066 |
+
"mae": 0.08118842710079002,
|
| 2067 |
+
"p95_absolute_error": 0.45499998331069946,
|
| 2068 |
+
"max_absolute_error": 0.5910000205039978
|
| 2069 |
+
},
|
| 2070 |
+
{
|
| 2071 |
+
"count": 392,
|
| 2072 |
+
"mse": 0.029989955644331295,
|
| 2073 |
+
"rmse": 0.17317608277222146,
|
| 2074 |
+
"mae": 0.08368173726520749,
|
| 2075 |
+
"p95_absolute_error": 0.46444999575614904,
|
| 2076 |
+
"max_absolute_error": 0.48000001907348633
|
| 2077 |
+
},
|
| 2078 |
+
{
|
| 2079 |
+
"count": 287,
|
| 2080 |
+
"mse": 0.030427378773252602,
|
| 2081 |
+
"rmse": 0.17443445408878547,
|
| 2082 |
+
"mae": 0.08441728506016606,
|
| 2083 |
+
"p95_absolute_error": 0.47600001096725464,
|
| 2084 |
+
"max_absolute_error": 0.48000001907348633
|
| 2085 |
+
},
|
| 2086 |
+
{
|
| 2087 |
+
"count": 168,
|
| 2088 |
+
"mse": 0.03158168311649594,
|
| 2089 |
+
"rmse": 0.1777123606182078,
|
| 2090 |
+
"mae": 0.08685503087915658,
|
| 2091 |
+
"p95_absolute_error": 0.4790000319480896,
|
| 2092 |
+
"max_absolute_error": 0.4790000319480896
|
| 2093 |
+
},
|
| 2094 |
+
{
|
| 2095 |
+
"count": 105,
|
| 2096 |
+
"mse": 0.03249412662365056,
|
| 2097 |
+
"rmse": 0.18026127322209437,
|
| 2098 |
+
"mae": 0.08913270454144194,
|
| 2099 |
+
"p95_absolute_error": 0.4790000319480896,
|
| 2100 |
+
"max_absolute_error": 0.4790000319480896
|
| 2101 |
+
},
|
| 2102 |
+
{
|
| 2103 |
+
"count": 56,
|
| 2104 |
+
"mse": 0.032519728782262024,
|
| 2105 |
+
"rmse": 0.18033227326871368,
|
| 2106 |
+
"mae": 0.08985656082430589,
|
| 2107 |
+
"p95_absolute_error": 0.4790000319480896,
|
| 2108 |
+
"max_absolute_error": 0.4790000319480896
|
| 2109 |
+
},
|
| 2110 |
+
{
|
| 2111 |
+
"count": 28,
|
| 2112 |
+
"mse": 0.03391169268164989,
|
| 2113 |
+
"rmse": 0.1841512766223734,
|
| 2114 |
+
"mae": 0.09549033252655395,
|
| 2115 |
+
"p95_absolute_error": 0.4790000319480896,
|
| 2116 |
+
"max_absolute_error": 0.4790000319480896
|
| 2117 |
+
},
|
| 2118 |
+
{
|
| 2119 |
+
"count": 14,
|
| 2120 |
+
"mse": 0.03686593680731267,
|
| 2121 |
+
"rmse": 0.19200504370279617,
|
| 2122 |
+
"mae": 0.10518271462725741,
|
| 2123 |
+
"p95_absolute_error": 0.4790000319480896,
|
| 2124 |
+
"max_absolute_error": 0.4790000319480896
|
| 2125 |
+
},
|
| 2126 |
+
{
|
| 2127 |
+
"count": 7,
|
| 2128 |
+
"mse": 0.0371784638665074,
|
| 2129 |
+
"rmse": 0.1928171773118448,
|
| 2130 |
+
"mae": 0.10708512884697743,
|
| 2131 |
+
"p95_absolute_error": 0.3840156614780424,
|
| 2132 |
+
"max_absolute_error": 0.4790000319480896
|
| 2133 |
+
},
|
| 2134 |
+
{
|
| 2135 |
+
"count": 7,
|
| 2136 |
+
"mse": 0.0371784638665074,
|
| 2137 |
+
"rmse": 0.1928171773118448,
|
| 2138 |
+
"mae": 0.10708512884697743,
|
| 2139 |
+
"p95_absolute_error": 0.3840156614780424,
|
| 2140 |
+
"max_absolute_error": 0.4790000319480896
|
| 2141 |
+
},
|
| 2142 |
+
{
|
| 2143 |
+
"count": 7,
|
| 2144 |
+
"mse": 0.0371784638665074,
|
| 2145 |
+
"rmse": 0.1928171773118448,
|
| 2146 |
+
"mae": 0.10708512884697743,
|
| 2147 |
+
"p95_absolute_error": 0.3840156614780424,
|
| 2148 |
+
"max_absolute_error": 0.4790000319480896
|
| 2149 |
+
},
|
| 2150 |
+
null,
|
| 2151 |
+
null,
|
| 2152 |
+
null,
|
| 2153 |
+
null,
|
| 2154 |
+
null,
|
| 2155 |
+
null,
|
| 2156 |
+
null,
|
| 2157 |
+
null,
|
| 2158 |
+
null,
|
| 2159 |
+
null,
|
| 2160 |
+
null,
|
| 2161 |
+
null,
|
| 2162 |
+
null,
|
| 2163 |
+
null,
|
| 2164 |
+
null
|
| 2165 |
+
],
|
| 2166 |
+
"per_dimension": {
|
| 2167 |
+
"joint_1": {
|
| 2168 |
+
"count": 325060,
|
| 2169 |
+
"mse": 0.006626422154279405,
|
| 2170 |
+
"rmse": 0.08140283873600113,
|
| 2171 |
+
"mae": 0.03839740409553257,
|
| 2172 |
+
"p95_absolute_error": 0.2038893699645996,
|
| 2173 |
+
"max_absolute_error": 0.6561565399169922
|
| 2174 |
+
},
|
| 2175 |
+
"joint_2": {
|
| 2176 |
+
"count": 325060,
|
| 2177 |
+
"mse": 0.014810603718892756,
|
| 2178 |
+
"rmse": 0.12169882381885519,
|
| 2179 |
+
"mae": 0.08365146902058712,
|
| 2180 |
+
"p95_absolute_error": 0.26303863525390625,
|
| 2181 |
+
"max_absolute_error": 0.5692217350006104
|
| 2182 |
+
},
|
| 2183 |
+
"joint_3": {
|
| 2184 |
+
"count": 325060,
|
| 2185 |
+
"mse": 0.0051544909796323035,
|
| 2186 |
+
"rmse": 0.07179478379124979,
|
| 2187 |
+
"mae": 0.03936293571549514,
|
| 2188 |
+
"p95_absolute_error": 0.17191493585705758,
|
| 2189 |
+
"max_absolute_error": 0.5530250072479248
|
| 2190 |
+
},
|
| 2191 |
+
"joint_4": {
|
| 2192 |
+
"count": 325060,
|
| 2193 |
+
"mse": 0.0003334759308824056,
|
| 2194 |
+
"rmse": 0.018261323360655043,
|
| 2195 |
+
"mae": 0.0068340030936658355,
|
| 2196 |
+
"p95_absolute_error": 0.04120722413063049,
|
| 2197 |
+
"max_absolute_error": 0.20411625504493713
|
| 2198 |
+
},
|
| 2199 |
+
"joint_5": {
|
| 2200 |
+
"count": 325060,
|
| 2201 |
+
"mse": 0.0025547268819615613,
|
| 2202 |
+
"rmse": 0.05054430612800577,
|
| 2203 |
+
"mae": 0.025508176488214497,
|
| 2204 |
+
"p95_absolute_error": 0.11477282755076886,
|
| 2205 |
+
"max_absolute_error": 0.5109625458717346
|
| 2206 |
+
},
|
| 2207 |
+
"joint_6": {
|
| 2208 |
+
"count": 325060,
|
| 2209 |
+
"mse": 0.000941232858411679,
|
| 2210 |
+
"rmse": 0.030679518549215846,
|
| 2211 |
+
"mae": 0.01260076778953205,
|
| 2212 |
+
"p95_absolute_error": 0.06962118297815323,
|
| 2213 |
+
"max_absolute_error": 0.3569372892379761
|
| 2214 |
+
},
|
| 2215 |
+
"gripper": {
|
| 2216 |
+
"count": 325060,
|
| 2217 |
+
"mse": 0.03328249127717551,
|
| 2218 |
+
"rmse": 0.1824348959962855,
|
| 2219 |
+
"mae": 0.07246110543355049,
|
| 2220 |
+
"p95_absolute_error": 0.460999995470047,
|
| 2221 |
+
"max_absolute_error": 0.7610000371932983
|
| 2222 |
+
}
|
| 2223 |
+
},
|
| 2224 |
+
"first_action": {
|
| 2225 |
+
"count": 119987,
|
| 2226 |
+
"mse": 0.0,
|
| 2227 |
+
"rmse": 0.0,
|
| 2228 |
+
"mae": 0.0,
|
| 2229 |
+
"p95_absolute_error": 0.0,
|
| 2230 |
+
"max_absolute_error": 0.0
|
| 2231 |
+
},
|
| 2232 |
+
"valid_plan_steps": 325060
|
| 2233 |
+
},
|
| 2234 |
+
"binary_gripper_postprocess_vs_binary_target": {
|
| 2235 |
+
"overall": {
|
| 2236 |
+
"count": 2275420,
|
| 2237 |
+
"mse": 0.002533166706399066,
|
| 2238 |
+
"rmse": 0.050330574270507446,
|
| 2239 |
+
"mae": 0.010939204808465957,
|
| 2240 |
+
"p95_absolute_error": 0.030054213106632227,
|
| 2241 |
+
"max_absolute_error": 1.0
|
| 2242 |
+
},
|
| 2243 |
+
"arm": {
|
| 2244 |
+
"count": 1950360,
|
| 2245 |
+
"mse": 0.0002466304615940456,
|
| 2246 |
+
"rmse": 0.015704472662080877,
|
| 2247 |
+
"mae": 0.010053674914005419,
|
| 2248 |
+
"p95_absolute_error": 0.03137356936931607,
|
| 2249 |
+
"max_absolute_error": 0.24149906635284424
|
| 2250 |
+
},
|
| 2251 |
+
"gripper": {
|
| 2252 |
+
"count": 325060,
|
| 2253 |
+
"mse": 0.016252384175229187,
|
| 2254 |
+
"rmse": 0.12748483900146396,
|
| 2255 |
+
"mae": 0.016252384175229187,
|
| 2256 |
+
"p95_absolute_error": 0.0,
|
| 2257 |
+
"max_absolute_error": 1.0
|
| 2258 |
+
},
|
| 2259 |
+
"per_horizon": [
|
| 2260 |
+
{
|
| 2261 |
+
"count": 119987,
|
| 2262 |
+
"mse": 0.0010339044374075316,
|
| 2263 |
+
"rmse": 0.03215438441966401,
|
| 2264 |
+
"mae": 0.008254952398638014,
|
| 2265 |
+
"p95_absolute_error": 0.02507011517882347,
|
| 2266 |
+
"max_absolute_error": 1.0
|
| 2267 |
+
},
|
| 2268 |
+
{
|
| 2269 |
+
"count": 119623,
|
| 2270 |
+
"mse": 0.0011389721729718255,
|
| 2271 |
+
"rmse": 0.033748661795274575,
|
| 2272 |
+
"mae": 0.007886088572560698,
|
| 2273 |
+
"p95_absolute_error": 0.02344428300857544,
|
| 2274 |
+
"max_absolute_error": 1.0
|
| 2275 |
+
},
|
| 2276 |
+
{
|
| 2277 |
+
"count": 119259,
|
| 2278 |
+
"mse": 0.0014891848576645854,
|
| 2279 |
+
"rmse": 0.0385899579899303,
|
| 2280 |
+
"mae": 0.008532612566274638,
|
| 2281 |
+
"p95_absolute_error": 0.024443497508764265,
|
| 2282 |
+
"max_absolute_error": 1.0
|
| 2283 |
+
},
|
| 2284 |
+
{
|
| 2285 |
+
"count": 118895,
|
| 2286 |
+
"mse": 0.0017736326154100016,
|
| 2287 |
+
"rmse": 0.04211451786985103,
|
| 2288 |
+
"mae": 0.009242211790516984,
|
| 2289 |
+
"p95_absolute_error": 0.026065063476562483,
|
| 2290 |
+
"max_absolute_error": 1.0
|
| 2291 |
+
},
|
| 2292 |
+
{
|
| 2293 |
+
"count": 118531,
|
| 2294 |
+
"mse": 0.002130937294934412,
|
| 2295 |
+
"rmse": 0.0461620763715673,
|
| 2296 |
+
"mae": 0.010028843227584315,
|
| 2297 |
+
"p95_absolute_error": 0.02778780460357666,
|
| 2298 |
+
"max_absolute_error": 1.0
|
| 2299 |
+
},
|
| 2300 |
+
{
|
| 2301 |
+
"count": 118167,
|
| 2302 |
+
"mse": 0.002382647754693259,
|
| 2303 |
+
"rmse": 0.048812372967243244,
|
| 2304 |
+
"mae": 0.010681741324270211,
|
| 2305 |
+
"p95_absolute_error": 0.02959959506988525,
|
| 2306 |
+
"max_absolute_error": 1.0
|
| 2307 |
+
},
|
| 2308 |
+
{
|
| 2309 |
+
"count": 117803,
|
| 2310 |
+
"mse": 0.0024663255939516423,
|
| 2311 |
+
"rmse": 0.04966211427186364,
|
| 2312 |
+
"mae": 0.011117845708357993,
|
| 2313 |
+
"p95_absolute_error": 0.03129451572895049,
|
| 2314 |
+
"max_absolute_error": 1.0
|
| 2315 |
+
},
|
| 2316 |
+
{
|
| 2317 |
+
"count": 117439,
|
| 2318 |
+
"mse": 0.0021849596088361982,
|
| 2319 |
+
"rmse": 0.04674355152142591,
|
| 2320 |
+
"mae": 0.011173630344960762,
|
| 2321 |
+
"p95_absolute_error": 0.03285895138978958,
|
| 2322 |
+
"max_absolute_error": 1.0
|
| 2323 |
+
},
|
| 2324 |
+
{
|
| 2325 |
+
"count": 117075,
|
| 2326 |
+
"mse": 0.0021573558730703522,
|
| 2327 |
+
"rmse": 0.046447345167085194,
|
| 2328 |
+
"mae": 0.011451636990751536,
|
| 2329 |
+
"p95_absolute_error": 0.03443821817636488,
|
| 2330 |
+
"max_absolute_error": 1.0
|
| 2331 |
+
},
|
| 2332 |
+
{
|
| 2333 |
+
"count": 116711,
|
| 2334 |
+
"mse": 0.002248965149104425,
|
| 2335 |
+
"rmse": 0.04742325536173603,
|
| 2336 |
+
"mae": 0.011835840900027724,
|
| 2337 |
+
"p95_absolute_error": 0.03600126877427101,
|
| 2338 |
+
"max_absolute_error": 1.0
|
| 2339 |
+
},
|
| 2340 |
+
{
|
| 2341 |
+
"count": 111461,
|
| 2342 |
+
"mse": 0.0025576488895060674,
|
| 2343 |
+
"rmse": 0.05057320327511465,
|
| 2344 |
+
"mae": 0.0119706838200303,
|
| 2345 |
+
"p95_absolute_error": 0.03506779670715332,
|
| 2346 |
+
"max_absolute_error": 1.0
|
| 2347 |
+
},
|
| 2348 |
+
{
|
| 2349 |
+
"count": 106001,
|
| 2350 |
+
"mse": 0.002650383545702429,
|
| 2351 |
+
"rmse": 0.05148187589533261,
|
| 2352 |
+
"mae": 0.011885154440668169,
|
| 2353 |
+
"p95_absolute_error": 0.034174323081970215,
|
| 2354 |
+
"max_absolute_error": 1.0
|
| 2355 |
+
},
|
| 2356 |
+
{
|
| 2357 |
+
"count": 100135,
|
| 2358 |
+
"mse": 0.002812658593474794,
|
| 2359 |
+
"rmse": 0.053034503801532774,
|
| 2360 |
+
"mae": 0.011924892233386046,
|
| 2361 |
+
"p95_absolute_error": 0.033539164066314665,
|
| 2362 |
+
"max_absolute_error": 1.0
|
| 2363 |
+
},
|
| 2364 |
+
{
|
| 2365 |
+
"count": 93674,
|
| 2366 |
+
"mse": 0.003305655432931358,
|
| 2367 |
+
"rmse": 0.05749482961911756,
|
| 2368 |
+
"mae": 0.012321531167479787,
|
| 2369 |
+
"p95_absolute_error": 0.033058680780231935,
|
| 2370 |
+
"max_absolute_error": 1.0
|
| 2371 |
+
},
|
| 2372 |
+
{
|
| 2373 |
+
"count": 87353,
|
| 2374 |
+
"mse": 0.0034664333444941425,
|
| 2375 |
+
"rmse": 0.05887642435214746,
|
| 2376 |
+
"mae": 0.01239915508651416,
|
| 2377 |
+
"p95_absolute_error": 0.03274199962615966,
|
| 2378 |
+
"max_absolute_error": 1.0
|
| 2379 |
+
},
|
| 2380 |
+
{
|
| 2381 |
+
"count": 80493,
|
| 2382 |
+
"mse": 0.0033147135624730243,
|
| 2383 |
+
"rmse": 0.057573549156474835,
|
| 2384 |
+
"mae": 0.012173342273852292,
|
| 2385 |
+
"p95_absolute_error": 0.03234425485134124,
|
| 2386 |
+
"max_absolute_error": 1.0
|
| 2387 |
+
},
|
| 2388 |
+
{
|
| 2389 |
+
"count": 73360,
|
| 2390 |
+
"mse": 0.0031545053595963585,
|
| 2391 |
+
"rmse": 0.056164983393537635,
|
| 2392 |
+
"mae": 0.011896951249389932,
|
| 2393 |
+
"p95_absolute_error": 0.03149629198014736,
|
| 2394 |
+
"max_absolute_error": 1.0
|
| 2395 |
+
},
|
| 2396 |
+
{
|
| 2397 |
+
"count": 66164,
|
| 2398 |
+
"mse": 0.0033129800060804535,
|
| 2399 |
+
"rmse": 0.057558492041404744,
|
| 2400 |
+
"mae": 0.01193571799162295,
|
| 2401 |
+
"p95_absolute_error": 0.03088561445474623,
|
| 2402 |
+
"max_absolute_error": 1.0
|
| 2403 |
+
},
|
| 2404 |
+
{
|
| 2405 |
+
"count": 59024,
|
| 2406 |
+
"mse": 0.003671517909539047,
|
| 2407 |
+
"rmse": 0.06059305166055797,
|
| 2408 |
+
"mae": 0.01212252263132894,
|
| 2409 |
+
"p95_absolute_error": 0.03029906153678894,
|
| 2410 |
+
"max_absolute_error": 1.0
|
| 2411 |
+
},
|
| 2412 |
+
{
|
| 2413 |
+
"count": 51877,
|
| 2414 |
+
"mse": 0.0035657498079427782,
|
| 2415 |
+
"rmse": 0.05971389962096579,
|
| 2416 |
+
"mae": 0.011924649066170516,
|
| 2417 |
+
"p95_absolute_error": 0.029919555783271788,
|
| 2418 |
+
"max_absolute_error": 1.0
|
| 2419 |
+
},
|
| 2420 |
+
{
|
| 2421 |
+
"count": 45108,
|
| 2422 |
+
"mse": 0.0038447491466975284,
|
| 2423 |
+
"rmse": 0.06200604121130076,
|
| 2424 |
+
"mae": 0.012128321004031268,
|
| 2425 |
+
"p95_absolute_error": 0.029488724470138557,
|
| 2426 |
+
"max_absolute_error": 1.0
|
| 2427 |
+
},
|
| 2428 |
+
{
|
| 2429 |
+
"count": 39088,
|
| 2430 |
+
"mse": 0.003810426141382255,
|
| 2431 |
+
"rmse": 0.061728649275537,
|
| 2432 |
+
"mae": 0.012004000069773901,
|
| 2433 |
+
"p95_absolute_error": 0.028899721056222922,
|
| 2434 |
+
"max_absolute_error": 1.0
|
| 2435 |
+
},
|
| 2436 |
+
{
|
| 2437 |
+
"count": 33474,
|
| 2438 |
+
"mse": 0.003993753596074837,
|
| 2439 |
+
"rmse": 0.06319615175052068,
|
| 2440 |
+
"mae": 0.012073987746399817,
|
| 2441 |
+
"p95_absolute_error": 0.028427708148956295,
|
| 2442 |
+
"max_absolute_error": 1.0
|
| 2443 |
+
},
|
| 2444 |
+
{
|
| 2445 |
+
"count": 28665,
|
| 2446 |
+
"mse": 0.0037217360756163593,
|
| 2447 |
+
"rmse": 0.06100603310834396,
|
| 2448 |
+
"mae": 0.011748795987043667,
|
| 2449 |
+
"p95_absolute_error": 0.028107142448425274,
|
| 2450 |
+
"max_absolute_error": 1.0
|
| 2451 |
+
},
|
| 2452 |
+
{
|
| 2453 |
+
"count": 24304,
|
| 2454 |
+
"mse": 0.002990594421114653,
|
| 2455 |
+
"rmse": 0.05468632755190874,
|
| 2456 |
+
"mae": 0.010902837926467178,
|
| 2457 |
+
"p95_absolute_error": 0.02772438898682594,
|
| 2458 |
+
"max_absolute_error": 1.0
|
| 2459 |
+
},
|
| 2460 |
+
{
|
| 2461 |
+
"count": 20132,
|
| 2462 |
+
"mse": 0.003027008736022919,
|
| 2463 |
+
"rmse": 0.055018258206007566,
|
| 2464 |
+
"mae": 0.010876442093337197,
|
| 2465 |
+
"p95_absolute_error": 0.02793590892106296,
|
| 2466 |
+
"max_absolute_error": 1.0
|
| 2467 |
+
},
|
| 2468 |
+
{
|
| 2469 |
+
"count": 16499,
|
| 2470 |
+
"mse": 0.0034598875419001272,
|
| 2471 |
+
"rmse": 0.05882080874911639,
|
| 2472 |
+
"mae": 0.011220571668061636,
|
| 2473 |
+
"p95_absolute_error": 0.027641981840133598,
|
| 2474 |
+
"max_absolute_error": 1.0
|
| 2475 |
+
},
|
| 2476 |
+
{
|
| 2477 |
+
"count": 13111,
|
| 2478 |
+
"mse": 0.0033216891482144503,
|
| 2479 |
+
"rmse": 0.05763409709724314,
|
| 2480 |
+
"mae": 0.011105387285685612,
|
| 2481 |
+
"p95_absolute_error": 0.02755542192608118,
|
| 2482 |
+
"max_absolute_error": 1.0
|
| 2483 |
+
},
|
| 2484 |
+
{
|
| 2485 |
+
"count": 10094,
|
| 2486 |
+
"mse": 0.0027661034414962543,
|
| 2487 |
+
"rmse": 0.05259375857928633,
|
| 2488 |
+
"mae": 0.010517033390755806,
|
| 2489 |
+
"p95_absolute_error": 0.027153059840202335,
|
| 2490 |
+
"max_absolute_error": 1.0
|
| 2491 |
+
},
|
| 2492 |
+
{
|
| 2493 |
+
"count": 7861,
|
| 2494 |
+
"mse": 0.0038927601980384783,
|
| 2495 |
+
"rmse": 0.06239198825200619,
|
| 2496 |
+
"mae": 0.01171681309055365,
|
| 2497 |
+
"p95_absolute_error": 0.027394771575927734,
|
| 2498 |
+
"max_absolute_error": 1.0
|
| 2499 |
+
},
|
| 2500 |
+
{
|
| 2501 |
+
"count": 6069,
|
| 2502 |
+
"mse": 0.0035052420607324204,
|
| 2503 |
+
"rmse": 0.059205084754034604,
|
| 2504 |
+
"mae": 0.01139711570168093,
|
| 2505 |
+
"p95_absolute_error": 0.027092383801937084,
|
| 2506 |
+
"max_absolute_error": 1.0
|
| 2507 |
+
},
|
| 2508 |
+
{
|
| 2509 |
+
"count": 4711,
|
| 2510 |
+
"mse": 0.004031052882789069,
|
| 2511 |
+
"rmse": 0.06349057318050506,
|
| 2512 |
+
"mae": 0.011914288566604564,
|
| 2513 |
+
"p95_absolute_error": 0.027355685830116272,
|
| 2514 |
+
"max_absolute_error": 1.0
|
| 2515 |
+
},
|
| 2516 |
+
{
|
| 2517 |
+
"count": 3563,
|
| 2518 |
+
"mse": 0.0035887337977357683,
|
| 2519 |
+
"rmse": 0.05990604141266362,
|
| 2520 |
+
"mae": 0.011573907974119387,
|
| 2521 |
+
"p95_absolute_error": 0.02695997096598146,
|
| 2522 |
+
"max_absolute_error": 1.0
|
| 2523 |
+
},
|
| 2524 |
+
{
|
| 2525 |
+
"count": 2639,
|
| 2526 |
+
"mse": 0.004389441653650942,
|
| 2527 |
+
"rmse": 0.06625286147519172,
|
| 2528 |
+
"mae": 0.012519146889580859,
|
| 2529 |
+
"p95_absolute_error": 0.02800624370574949,
|
| 2530 |
+
"max_absolute_error": 1.0
|
| 2531 |
+
},
|
| 2532 |
+
{
|
| 2533 |
+
"count": 1974,
|
| 2534 |
+
"mse": 0.004272469872763187,
|
| 2535 |
+
"rmse": 0.06536413292290495,
|
| 2536 |
+
"mae": 0.012304095060233378,
|
| 2537 |
+
"p95_absolute_error": 0.02878537103533744,
|
| 2538 |
+
"max_absolute_error": 1.0
|
| 2539 |
+
},
|
| 2540 |
+
{
|
| 2541 |
+
"count": 1554,
|
| 2542 |
+
"mse": 0.003463019645184135,
|
| 2543 |
+
"rmse": 0.0588474268357091,
|
| 2544 |
+
"mae": 0.011557329906344874,
|
| 2545 |
+
"p95_absolute_error": 0.027825744450092296,
|
| 2546 |
+
"max_absolute_error": 1.0
|
| 2547 |
+
},
|
| 2548 |
+
{
|
| 2549 |
+
"count": 1148,
|
| 2550 |
+
"mse": 0.0028484223004573185,
|
| 2551 |
+
"rmse": 0.053370612704533554,
|
| 2552 |
+
"mae": 0.01061756924956466,
|
| 2553 |
+
"p95_absolute_error": 0.027484240848571023,
|
| 2554 |
+
"max_absolute_error": 1.0
|
| 2555 |
+
},
|
| 2556 |
+
{
|
| 2557 |
+
"count": 770,
|
| 2558 |
+
"mse": 0.0015126739802580327,
|
| 2559 |
+
"rmse": 0.03889310967585432,
|
| 2560 |
+
"mae": 0.009034388747017879,
|
| 2561 |
+
"p95_absolute_error": 0.027313637733459444,
|
| 2562 |
+
"max_absolute_error": 1.0
|
| 2563 |
+
},
|
| 2564 |
+
{
|
| 2565 |
+
"count": 553,
|
| 2566 |
+
"mse": 0.002024777467889289,
|
| 2567 |
+
"rmse": 0.04499752735305896,
|
| 2568 |
+
"mae": 0.009316818008896563,
|
| 2569 |
+
"p95_absolute_error": 0.025074887275695786,
|
| 2570 |
+
"max_absolute_error": 1.0
|
| 2571 |
+
},
|
| 2572 |
+
{
|
| 2573 |
+
"count": 392,
|
| 2574 |
+
"mse": 0.00014769910137309392,
|
| 2575 |
+
"rmse": 0.012153151911051466,
|
| 2576 |
+
"mae": 0.007114725177917554,
|
| 2577 |
+
"p95_absolute_error": 0.02455667443573473,
|
| 2578 |
+
"max_absolute_error": 0.06701898574829102
|
| 2579 |
+
},
|
| 2580 |
+
{
|
| 2581 |
+
"count": 287,
|
| 2582 |
+
"mse": 0.00016395041531669702,
|
| 2583 |
+
"rmse": 0.012804312371880695,
|
| 2584 |
+
"mae": 0.007289832886243531,
|
| 2585 |
+
"p95_absolute_error": 0.023241341114044186,
|
| 2586 |
+
"max_absolute_error": 0.07375180721282959
|
| 2587 |
+
},
|
| 2588 |
+
{
|
| 2589 |
+
"count": 168,
|
| 2590 |
+
"mse": 0.00011720144494613662,
|
| 2591 |
+
"rmse": 0.01082596161761793,
|
| 2592 |
+
"mae": 0.007232665899209678,
|
| 2593 |
+
"p95_absolute_error": 0.022330294549465186,
|
| 2594 |
+
"max_absolute_error": 0.04484736919403076
|
| 2595 |
+
},
|
| 2596 |
+
{
|
| 2597 |
+
"count": 105,
|
| 2598 |
+
"mse": 0.00013440024659678275,
|
| 2599 |
+
"rmse": 0.01159311203244335,
|
| 2600 |
+
"mae": 0.007282267413323834,
|
| 2601 |
+
"p95_absolute_error": 0.02271976470947265,
|
| 2602 |
+
"max_absolute_error": 0.060346126556396484
|
| 2603 |
+
},
|
| 2604 |
+
{
|
| 2605 |
+
"count": 56,
|
| 2606 |
+
"mse": 0.00011964884371511346,
|
| 2607 |
+
"rmse": 0.010938411389004962,
|
| 2608 |
+
"mae": 0.0073523478017055565,
|
| 2609 |
+
"p95_absolute_error": 0.023802982177585363,
|
| 2610 |
+
"max_absolute_error": 0.030442476272583008
|
| 2611 |
+
},
|
| 2612 |
+
{
|
| 2613 |
+
"count": 28,
|
| 2614 |
+
"mse": 0.00014870854387699203,
|
| 2615 |
+
"rmse": 0.012194611263873565,
|
| 2616 |
+
"mae": 0.007907356168808681,
|
| 2617 |
+
"p95_absolute_error": 0.026639230549335462,
|
| 2618 |
+
"max_absolute_error": 0.03539085388183594
|
| 2619 |
+
},
|
| 2620 |
+
{
|
| 2621 |
+
"count": 14,
|
| 2622 |
+
"mse": 7.990302159340696e-05,
|
| 2623 |
+
"rmse": 0.008938849008312365,
|
| 2624 |
+
"mae": 0.005996638509844031,
|
| 2625 |
+
"p95_absolute_error": 0.018915225565433503,
|
| 2626 |
+
"max_absolute_error": 0.019063204526901245
|
| 2627 |
+
},
|
| 2628 |
+
{
|
| 2629 |
+
"count": 7,
|
| 2630 |
+
"mse": 0.00010909346758123337,
|
| 2631 |
+
"rmse": 0.010444781835023332,
|
| 2632 |
+
"mae": 0.00717010282512222,
|
| 2633 |
+
"p95_absolute_error": 0.019385212659835813,
|
| 2634 |
+
"max_absolute_error": 0.020206987857818604
|
| 2635 |
+
},
|
| 2636 |
+
{
|
| 2637 |
+
"count": 7,
|
| 2638 |
+
"mse": 0.00012249490513771666,
|
| 2639 |
+
"rmse": 0.011067741645779262,
|
| 2640 |
+
"mae": 0.007556587856795106,
|
| 2641 |
+
"p95_absolute_error": 0.020513769984245298,
|
| 2642 |
+
"max_absolute_error": 0.021137267351150513
|
| 2643 |
+
},
|
| 2644 |
+
{
|
| 2645 |
+
"count": 7,
|
| 2646 |
+
"mse": 0.00013759565968201478,
|
| 2647 |
+
"rmse": 0.011730117632914632,
|
| 2648 |
+
"mae": 0.007942557734038149,
|
| 2649 |
+
"p95_absolute_error": 0.021581655740737914,
|
| 2650 |
+
"max_absolute_error": 0.021845638751983643
|
| 2651 |
+
},
|
| 2652 |
+
null,
|
| 2653 |
+
null,
|
| 2654 |
+
null,
|
| 2655 |
+
null,
|
| 2656 |
+
null,
|
| 2657 |
+
null,
|
| 2658 |
+
null,
|
| 2659 |
+
null,
|
| 2660 |
+
null,
|
| 2661 |
+
null,
|
| 2662 |
+
null,
|
| 2663 |
+
null,
|
| 2664 |
+
null,
|
| 2665 |
+
null,
|
| 2666 |
+
null
|
| 2667 |
+
],
|
| 2668 |
+
"per_dimension": {
|
| 2669 |
+
"joint_1": {
|
| 2670 |
+
"count": 325060,
|
| 2671 |
+
"mse": 0.00042727244816328277,
|
| 2672 |
+
"rmse": 0.02067056961390476,
|
| 2673 |
+
"mae": 0.015681161183633864,
|
| 2674 |
+
"p95_absolute_error": 0.037951963394880286,
|
| 2675 |
+
"max_absolute_error": 0.2298176884651184
|
| 2676 |
+
},
|
| 2677 |
+
"joint_2": {
|
| 2678 |
+
"count": 325060,
|
| 2679 |
+
"mse": 0.0005614583253339591,
|
| 2680 |
+
"rmse": 0.023695111844723567,
|
| 2681 |
+
"mae": 0.017316446406297436,
|
| 2682 |
+
"p95_absolute_error": 0.0456036627292633,
|
| 2683 |
+
"max_absolute_error": 0.24149906635284424
|
| 2684 |
+
},
|
| 2685 |
+
"joint_3": {
|
| 2686 |
+
"count": 325060,
|
| 2687 |
+
"mse": 0.0002484895218985915,
|
| 2688 |
+
"rmse": 0.01576355042173531,
|
| 2689 |
+
"mae": 0.010297800617633596,
|
| 2690 |
+
"p95_absolute_error": 0.03174040317535398,
|
| 2691 |
+
"max_absolute_error": 0.22060731053352356
|
| 2692 |
+
},
|
| 2693 |
+
"joint_4": {
|
| 2694 |
+
"count": 325060,
|
| 2695 |
+
"mse": 3.1515361463631175e-05,
|
| 2696 |
+
"rmse": 0.005613854421307269,
|
| 2697 |
+
"mae": 0.0036490948023717483,
|
| 2698 |
+
"p95_absolute_error": 0.010613568732514964,
|
| 2699 |
+
"max_absolute_error": 0.09366176277399063
|
| 2700 |
+
},
|
| 2701 |
+
"joint_5": {
|
| 2702 |
+
"count": 325060,
|
| 2703 |
+
"mse": 0.00013540609016384676,
|
| 2704 |
+
"rmse": 0.011636412254808041,
|
| 2705 |
+
"mae": 0.007446623682354032,
|
| 2706 |
+
"p95_absolute_error": 0.02152411937713622,
|
| 2707 |
+
"max_absolute_error": 0.21016466617584229
|
| 2708 |
+
},
|
| 2709 |
+
"joint_6": {
|
| 2710 |
+
"count": 325060,
|
| 2711 |
+
"mse": 7.564102254096291e-05,
|
| 2712 |
+
"rmse": 0.008697184748006846,
|
| 2713 |
+
"mae": 0.005930922791741833,
|
| 2714 |
+
"p95_absolute_error": 0.016565538942813866,
|
| 2715 |
+
"max_absolute_error": 0.11780259013175964
|
| 2716 |
+
},
|
| 2717 |
+
"gripper": {
|
| 2718 |
+
"count": 325060,
|
| 2719 |
+
"mse": 0.016252384175229187,
|
| 2720 |
+
"rmse": 0.12748483900146396,
|
| 2721 |
+
"mae": 0.016252384175229187,
|
| 2722 |
+
"p95_absolute_error": 0.0,
|
| 2723 |
+
"max_absolute_error": 1.0
|
| 2724 |
+
}
|
| 2725 |
+
},
|
| 2726 |
+
"first_action": {
|
| 2727 |
+
"count": 119987,
|
| 2728 |
+
"mse": 0.0010339044374075316,
|
| 2729 |
+
"rmse": 0.03215438441966401,
|
| 2730 |
+
"mae": 0.008254952398638014,
|
| 2731 |
+
"p95_absolute_error": 0.02507011517882347,
|
| 2732 |
+
"max_absolute_error": 1.0
|
| 2733 |
+
},
|
| 2734 |
+
"valid_plan_steps": 325060
|
| 2735 |
+
},
|
| 2736 |
+
"availability": {
|
| 2737 |
+
"unavailable_tail_fraction_of_target_plan": 0.01596501079283589,
|
| 2738 |
+
"predicted_valid_steps": 342086,
|
| 2739 |
+
"target_valid_steps": 349753,
|
| 2740 |
+
"overlap_available_steps": 317967
|
| 2741 |
+
},
|
| 2742 |
+
"inference_timing": {
|
| 2743 |
+
"batches": 536,
|
| 2744 |
+
"total_seconds": 368.2863721080357,
|
| 2745 |
+
"mean_batch_seconds": 0.6871014405000666,
|
| 2746 |
+
"mean_observation_seconds_amortized": 0.021485699323728822
|
| 2747 |
+
}
|
| 2748 |
+
}
|