diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/README.md b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f3fe1d4c42d15717f3aa9d2ccbde387e1c4fb63e --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/README.md @@ -0,0 +1 @@ +Balance H8 applied-action windows from teacher trajectories; per-arm bootstrap statistics frozen. diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000000.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3ff1895aac52ac82bc40b52f0f6814d2e712c4ec --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac13095ef9f6274d3f6ba3f5bfdf73cd15b4dd47b99e2b9932f2657564508de0 +size 8135575 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000001.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..cb039199130ba4774a6d9daf9fee681919e3b629 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7fe27ed374b2f238e0325087f08cd0cfe9557caab73f8440bd3e9ad184d26ed +size 4744394 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000002.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000002.parquet new file mode 100644 index 0000000000000000000000000000000000000000..aaf62eb33ad1f493c8d121c41e3a7046606d5e27 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000002.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0614b5abfcaae91508d7a02a3773623434bd48d83a46e8d1a54e89fc1806995 +size 1925146 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000003.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000003.parquet new file mode 100644 index 0000000000000000000000000000000000000000..81f986e6319c9718d743a0965405cb44c3fe9d5c --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000003.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39a0ee06f3d36df09a6b5c8dedb0f66a0f5e3c235a2965e420e682a55dbd7a2c +size 10356891 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000004.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000004.parquet new file mode 100644 index 0000000000000000000000000000000000000000..beb997eaa1a64c5a85ebf79668db115c43d8fa90 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000004.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1965b7c28e47bc5fa8f9e30ef3752cfa5f829519a201d4d8e8afb7f2afd2ce1b +size 13172080 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000005.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000005.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e0b6af321f96a07c79617be207ca727da1fa5b1f --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000005.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de4ded25af7f68ad030e80e8012cf97c052be69bd967cc0ba5f3323d36044984 +size 3913040 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000006.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000006.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6e2cef62d19da17351f7385c85d3fcb13b843634 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000006.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fb6834a4815b226e041cb5910d15d695b4f7b888a5460f4e9139f479022cd98 +size 5869251 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000007.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000007.parquet new file mode 100644 index 0000000000000000000000000000000000000000..900514178d90f602a178abfdfce48571fb02f50a --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000007.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3078543f5eb2d84eef45b560f1b719e5caaaa79acf9b2e0d874dd958fbcbec76 +size 10227132 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000008.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000008.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b9190070e1a0514ed093d3964b1aae9c380e2eff --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000008.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af6844a9d740e96779db2d95f66705f0899ed9cf46231cf842f32179a13275d6 +size 9088759 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000009.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000009.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9ea7e4220ca689f6a98beec34808d73d4081ce93 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000009.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f2429fe5a946c1737e8beb0b443d65fdfdc1d22d051faf3b19e2f3c080ea86e +size 2975319 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000010.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000010.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5a1b0ad292763309c73b69400f419e8f1775fee8 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000010.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49828c1e36ad45b2ae5d03d79bd39484a4f964b2f3bc01fd96eb2fef173ede20 +size 7523879 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000011.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000011.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e6fc566528fd39669d2af2993f772683b8bb6e05 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000011.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2831912b09c53e3a14a8811c3d7ad9f1d6eae9a5e2fdc8463e794aa0c2c036fa +size 16094751 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000012.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000012.parquet new file mode 100644 index 0000000000000000000000000000000000000000..690c7a63c6e86e91eae2628e02c6291529c4d8ef --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000012.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bca72be872efb7409e8f6850efa0774a49c5fbc17c5b75a4eb300c1d9f3c23e0 +size 8461556 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000013.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000013.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6950d318e0f766d07c82751fe76e98727db88d01 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000013.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77c265dda83277a6dc11703246d173246c273b8788a48a61d9033fa1fa30fe50 +size 8865141 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000014.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000014.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6ef06021763645cf34829805067e6489651dc521 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000014.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9042536053bb7ec58b5d1d7d64778da63943509b19c213a3d4cd2d13f4797f10 +size 12590215 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000015.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000015.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4e6c84df136988c28fbb48e24bf636c6bdde7bb4 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000015.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6734fd998cb937ccfdfb1abc008f7418255ec4402253790526ba14b840a74d86 +size 10609725 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000016.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000016.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f755249476f65529f967ddda334ec2d19eb0362c --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000016.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65d86a99ce5e28c2444a5ac4ca2c79932d940250bb05a808f936ab238dad17a0 +size 9967922 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000017.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000017.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7cbcc17c64a6b19e9f12d0622c450f27c243db0d --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000017.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfcbfb4601c03b95267567494951d93e916f50d5d059ca1c09b9e373e45cff6a +size 13514167 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000018.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000018.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d10f2e1cd91292687ce535cdfee57c25e9ff1b6e --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000018.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5aad93f513284c5828050e8844a961b17e1529201ce3ae6daa1c767f88cf2f51 +size 11105527 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000019.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000019.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6050e7b2304389f5092ccfaeeffa1675c963ffb3 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000019.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb614d99bbff2b4fbb8893ebffb59b4e639e5c189777f53bfc0d30d3bde025c9 +size 3149470 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000020.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000020.parquet new file mode 100644 index 0000000000000000000000000000000000000000..663ea674fc80f96a3cd6b83a4d484e0434f7a756 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000020.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d701c77b2561873fcce31c1c4f456a35d3c4b56d0f4ac519966e54290326e37 +size 13711893 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000021.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000021.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3e4961244625fd5a40fdb941e182bcaa1eae4ff2 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000021.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:223ebab7a7c4d418daad3bfe5d8dd78a15492b61f04337d3364fa715b4955232 +size 10353485 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000022.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000022.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2a709457ddc47769d5458fe5948e02aedf9634fd --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000022.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:867176028ad6b778b6513a9076e7b25c4350ac5178ba8a139268e3681c143ff3 +size 11598174 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000023.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000023.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9f2c4079a4c94c79ad6671af50865eb1146e2298 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000023.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ca38f3b861d6a7866ef380957a00f966824bac1a32f6e511849647c806f22b3 +size 16393228 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000024.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000024.parquet new file mode 100644 index 0000000000000000000000000000000000000000..51670138fb989e92d5b106d569e61805bcf7b031 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000024.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd35d5a1765d457ab89cef6261fcb998c2908bc7608e3b95b2eb9259a310e6f3 +size 12095943 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000025.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000025.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fc74d7250be2cb743d9d008fd78baea900b0edb9 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000025.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2278c2e318fde472789818170335904c9e7bea178732fd88967192d40bf3a3c +size 10220646 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000026.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000026.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3657297e223e1673e05b3e90231c0ac8dbafd72d --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000026.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8e63146b7d566c1fae117d0da58fcd44e9cf82ceb799fb41693ad7c3472e6a5 +size 11449445 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000027.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000027.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ad31eb1014452a746db2ee4d5899f173db2a1844 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000027.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7d7ff06650198ae0b7d4a42a660a2ff179208b0443446703850ff1bdd41c0d7 +size 2058776 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000028.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000028.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b29393c044282941a5959b8f72c9e3396c4df873 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000028.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a194bccc9e69987578832d76532c7db857bfd904eb0237a47f04f0f2845fa9c3 +size 10496207 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000029.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000029.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8c1a05082d378ef83958fb9d907e4030aadec439 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000029.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69fe20fe2ede87293775d9210460f43a04f631e82aa29c8f26d0d50de8c43d2c +size 11257116 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000030.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000030.parquet new file mode 100644 index 0000000000000000000000000000000000000000..13d78d68e43e280426c59bec4ed399c97bdae0c9 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000030.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:868f1774ff48ee60c271669cfde59af2b8c13dddd8c29573acb38db4cde6294b +size 10686467 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000031.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000031.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c93a1a19f20a03726dbebdad12a949f9ef8d9337 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000031.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad46ff5e2b08d9a749cb194a98bc7eceecc38c20b9230ba01e4d83bb3c006ca5 +size 6603135 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000032.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000032.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d6498f25e690becd0f9a265e7f65db60ae0ff9aa --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000032.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c2a3904c993505bc3c7ecf4fe61c214dd8555312c0e16cd1020cda3db7173e3 +size 12106813 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000033.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000033.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f7468114f50faf19d1aa4d5f97e8f96453abe41d --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000033.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0525f1bd6296e4b9f08d214b09a1c9ca070efce1f45e5dd7f2e853c6de632864 +size 10248198 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000034.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000034.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2b90a641b2bc9985bc55f77481d0157f6bbd8c76 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000034.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5a5097fa13bb3f010a9b69f3cbb7af95c9059ce2a750aafddaa5793a8dc728a +size 4833947 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000035.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000035.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f3aa90945fe52e2a1b0d52ca6cc98429ed9f2356 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000035.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c137fa9db61f5f975a0f8dd9c90233a6149f5fbb027487de0ef4a438433c4a06 +size 7746956 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000036.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000036.parquet new file mode 100644 index 0000000000000000000000000000000000000000..32b386ab436c66842c80c0cf1dadbcde582ab70f --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000036.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91781e8c31c439a7131eca65c33cf136d01274426b1b8c5f63e6dd7e3d5d9eb8 +size 7076188 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000037.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000037.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8d1e6f440582efe8de848c7e488df9110f1d86b1 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000037.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49ee9ec651c36f53729b05f9e290cd49e54580bf0aba92e4bf8a2f9af607255c +size 8735981 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000038.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000038.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4798a91715a9a56f89235d0337dbb3b9afb7bec0 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000038.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86575c55e46e2700d95a8abc2c103b2ad7174c05afb6124e340facd72772d98f +size 13659284 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000039.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000039.parquet new file mode 100644 index 0000000000000000000000000000000000000000..125d8aafcd5cfd4a25c1fb3f3765dcf0765618f6 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000039.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a904b012bc61bf0b391bbe9c36aa8ad17e5f87788664c10e6a404985e1a6a81c +size 2798219 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000040.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000040.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d40473db1fc4e07a00c5913266ddd6f4420625e3 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000040.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4797ad26f24cf83c655c5377a938e3cf886287737e2f52ca37f216b8b86395eb +size 6850691 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000041.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000041.parquet new file mode 100644 index 0000000000000000000000000000000000000000..11d4dde6a05283f0860815434a2585d526db8dc7 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000041.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b23558bd8e5e141d5aefcddd005f41a59452eda82e33cb6ea017f53fee644b35 +size 6413344 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000042.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000042.parquet new file mode 100644 index 0000000000000000000000000000000000000000..76dfcf0314db51c8f6142fc5c622325e9cbca869 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000042.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:feb14e91d6a96810e4c13ea9c3e0e71ae53bb7ccc500736988938f0f1d8f95d9 +size 8145916 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000043.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000043.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ab43c837e45102a8a1eadd11fd208a12cfdef170 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000043.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e922fa37420cd1ae0e0bdf53b42412867f18026c6ea6c3cd26ad8c2a48da4b9c +size 6001168 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000044.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000044.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d5e2805f9c49e5771c95d376fddd150a736d0d43 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000044.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a5fd0e11a2b898c52e776e94fed30f338772dd795b453773dabb6989d7fb391 +size 2614645 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000045.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000045.parquet new file mode 100644 index 0000000000000000000000000000000000000000..64f0312612f0ca71519e48c86d292702d579101d --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000045.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9a9c1e7886fa848e1089ca3fdf6baf5d82e5608af51321652af24f3cab0a102 +size 8176253 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000046.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000046.parquet new file mode 100644 index 0000000000000000000000000000000000000000..864d503a852431532f04126f9589c143edbc833a --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000046.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9dce6710b661a5b3749b3116542fafbdf429eeed26a677a8b2c133cff2d8eba +size 5129209 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000047.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000047.parquet new file mode 100644 index 0000000000000000000000000000000000000000..eeaaf0301d02f8584a1f3193ce123c3a6106b7a3 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000047.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38bc0f6dd34830fb66857dedeb254f3aa4f493dc2529e0015c640a34f16a32b1 +size 8963766 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000048.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000048.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8494114b04223ccbe717926430851c53030a081e --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000048.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08650d1f358ebbce775e558de32365cc9af1f5ff0d1d1a5943d96a13da472b8c +size 5869032 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000049.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000049.parquet new file mode 100644 index 0000000000000000000000000000000000000000..87288fec307bee830da3427a93289c4021ee76eb --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000049.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bd967ff9cc6f31a3e0001ffeb1aa3289dcaf156030e0e1bf3a031f9114ee481 +size 10403455 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000050.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000050.parquet new file mode 100644 index 0000000000000000000000000000000000000000..eaa80ac43d4dd5ff0ae24cb0bb23010910aa7ead --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000050.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67a61f2cfe4e7e07b90c753c95765689a7ef5bc6ec664a6c8981398f6f7586f4 +size 10332874 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000051.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000051.parquet new file mode 100644 index 0000000000000000000000000000000000000000..abc0311f8ba982832d279b4efc35fd41d8a4d902 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000051.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7a42a5dbbaebc707508ffe6cb59d94a09ef06f670b1d1388517737878d03e0f +size 14396385 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000052.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000052.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0133f33cdf508bf2bdfe79e2aae21715549f7338 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000052.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cb3d23ed7be27a938b08a4c4b7d32fa89bc8ba49295fec4d1d40341b103f44e +size 9203631 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000053.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000053.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1acec1ed67b59268e0e78a552231771cc436c0b8 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000053.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9054a14614c40d8e021bcc98f730f34d484303e255c437a2730ed57db3ffca4 +size 11248809 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000054.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000054.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7d3e15721dde0bd35dfc0c6fe1ab389115167b61 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000054.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eacacdaa27ecbbc1ca08097aa4036b6605b9fdf816d829676ebd9f7b7895bc76 +size 1653450 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000055.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000055.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0e4e2e9269ab94b12a067be69dedb083fcd47536 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000055.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77da7b9688e6d88fa40fc62b4b1a406f4f2cf3d25887b55472997589f2ce00c7 +size 8571309 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000056.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000056.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9ea640b481e646826b924470ad9890db6a1653a7 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000056.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d06aae8973413dc02dfec23e33f1eff05b21c3a406b2048bedbcdf4f81aff7d9 +size 12529517 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000057.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000057.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1f47fb16b9bc8eaae4dd893fb54819f2bb197139 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000057.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14f370a7ef5318912bdbf790dbc4ec9ece2c0fca724712fd61179c5a110bc041 +size 9994720 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000058.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000058.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9e10849ca92dfbf5f4e74f11619a82ae9233649e --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000058.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05d541e88a91997c633577cfdc2f55c59ea54e69bf166d2abae77c64eef7fa76 +size 10407856 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000059.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000059.parquet new file mode 100644 index 0000000000000000000000000000000000000000..42f7eadce7614588312179620399353bdbf76272 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000059.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6c135dc1d410e6e7f00fca351886df106ca62350e04c69e8ae34c05c8ac36a2 +size 10262495 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000060.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000060.parquet new file mode 100644 index 0000000000000000000000000000000000000000..815944a6f078de7ebaa3caab78626ac2d345d8e4 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000060.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38ffab052c79af77b9e3ee20abdaeeed67240e8cfd780570a1d3c15b482144c8 +size 7573954 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000061.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000061.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f1df44d32815a13f45c6587ecdbf764f4e9c48a7 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000061.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056fef1d4af9fb285dd0ccfd3cefe4aa3e50114a6dfe7f4ddd560aadc0de263b +size 8884729 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000062.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000062.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2b180a91fab11336cfcc266d20bf517e0ac526fc --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000062.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e393d7b4d210ddf822cd835107b3f7bfc2b0f1ab479b30d854e6cf11e2f87300 +size 9672774 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000063.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000063.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c5900fc270bd3e726c83d3bf4c537586e4a1d0f8 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000063.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bad2e88257b03f3b35e5cc504b8395ef81efcd869ededfaded753846586f94f +size 6063474 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000064.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000064.parquet new file mode 100644 index 0000000000000000000000000000000000000000..638612751c13c327bb4f65f03e057a92e65fb652 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000064.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1938c47deecf03d9695c1b6f452b4b7cc315298a6c7c06cd4bdbecd08477d6b6 +size 12208251 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000065.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000065.parquet new file mode 100644 index 0000000000000000000000000000000000000000..70bfe4034983154bd03a5d16ec83c452c1775184 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000065.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8323c3fae0844116b6ceb377811610c1975a4862c49b863c09e642fbcd06cfeb +size 9750777 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000066.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000066.parquet new file mode 100644 index 0000000000000000000000000000000000000000..013d1282a2c2c04485d483659b8af4c3cf377904 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000066.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf2456ee31b28a8f8be177aada6390309dc7d3a44c1fd5fca418be2baf2bc4c3 +size 9184580 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000067.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000067.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7d53387825bd7a60e2a536a0d023efaef41a0b0c --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000067.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:954ae804f55d467119e4839d127b33cbbc9dca72fd105c6b49e2b51a7aed3722 +size 9417744 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000068.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000068.parquet new file mode 100644 index 0000000000000000000000000000000000000000..473eb601cd58e5430a62777d5771a16170d7db8a --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000068.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ece42439f795ecd2c3b47e45a1c0b7c6e394867eb662e19ba6bfb368f552f2a +size 6916184 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000069.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000069.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d21b98761694c71da4c35947425bf0380dc7678e --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000069.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76e06ecc4d7fefbb42db154ea258270a72e184d12f2ce906162594560d790251 +size 11057320 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000070.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000070.parquet new file mode 100644 index 0000000000000000000000000000000000000000..704eef0a0a0f931cbdd407930d84a67fa69aa2d9 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000070.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2643c5911fff7e5dfa49c1bd8a323cb83599e3c64013cf5fd0837aa7f7d82c90 +size 14675236 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000071.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000071.parquet new file mode 100644 index 0000000000000000000000000000000000000000..86721d73e9d28df2cd4c1d369732b000452b64e6 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000071.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fe477dc2032a82fdac918eb2b42412178b2a7b498a4f2049d241c8074a4b826 +size 10578307 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000072.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000072.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4f13aa14a8e7f58b46a917b1203484900f819d2e --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000072.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e035de404eadda459ca01e253dd431df32e0bb0b88b964fbbbcb8cfceeaa94b1 +size 12987201 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000073.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000073.parquet new file mode 100644 index 0000000000000000000000000000000000000000..44f13c2b692599868e89da4a5caa148cc8222620 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000073.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:868eb7d826b62cd3d90929f7fbb3373df5468b5edb6c2c682d339792ee3de1b4 +size 8903778 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000074.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000074.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9c20c05f9a382820317c3757b4f9338cb24a7722 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000074.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48586517338d0f62a4a6f71c076b67b8970670bad831ebddfdd411c67206a6d0 +size 8305959 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000075.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000075.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e74a15108a2e062c7030e725bfbcd3a3d22138fc --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000075.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:222ad00325137106333037d2cb94da0d443a4ee04a94135e9df6a542a841dd59 +size 12944576 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000076.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000076.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0e20a72dde4d1caa5f4a348a468210bc8a6ab57e --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000076.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b8d4fa9dde26aa948f8a630b8d9f35880aac2a989be3fc3fb7fc38460169ad4 +size 9448541 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000077.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000077.parquet new file mode 100644 index 0000000000000000000000000000000000000000..447c6434b1ee59126a08e37e6db430c5368b9a94 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000077.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb6fdb07bc28445ed75b0cf85bb3eaac6d8563c705a0ab51e3d57aed8ad23d82 +size 11126329 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000078.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000078.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0deb8426e93d280ea7052034bf65e09c2adb923f --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000078.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c1f5596b290254b8a8c0d240a90b6eb480eaaf017b376480a952c448e9bd046 +size 7063395 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000079.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000079.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7e2a03776b160d873824ebc33020d5f94a1319a2 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000079.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:895ba5701ff754f6240c636b91b4dd07383ad1821b9a9d861987f53e45cfde41 +size 10342789 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000080.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000080.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4575dde411db3d986f30c438430fba4f132fdc1c --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000080.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ad36fb624b90f9557e1eefe186f6f62c3958f2edff3a16c67a7ae474b265d9b +size 3842375 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000081.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000081.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3dbdcec6de58cc8a22b073e9db0fd660830f78a8 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000081.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e02aee1112700db809726eb5076db4ad2001221982e5c8f5b2ebb47ad256c731 +size 10428190 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000082.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000082.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2a31a3762166555fd2cf1a9b83601ddae53f974c --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000082.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bf694a622dda3c8ce9776221cd9bcec67ecf4c5c587801a7a4c30db92434b09 +size 8944713 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000083.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000083.parquet new file mode 100644 index 0000000000000000000000000000000000000000..23633f6c13d8d2a71a842c74559f511ad521a039 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000083.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:455d43c25ad939165b8f40686999a06cc5eee279b8ecd326614ab22e1b360b62 +size 8854539 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000084.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000084.parquet new file mode 100644 index 0000000000000000000000000000000000000000..24ed4527c963b11dc1fe5d7633e560ab30ad1bf8 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000084.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29c73b2428cba0fc3acfdc9746806fa1306933a24dac4938565112cc492ac8c6 +size 11461323 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000085.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000085.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a658cbba7edf618d07ad5d1e2cd2bdb79b322733 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000085.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa18d49a413ff25828dd43a911e1ffb9ee7bbcd1a6428908a8afa98a45d1d0b2 +size 8399249 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000086.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000086.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bdc26453a81407f56f024fa08d779c5a4b8a6cc5 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000086.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65f082fae7b1e01eb3ed88f8f26aa7f4fd1a230475454277bdc827d258d14027 +size 11771032 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000087.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000087.parquet new file mode 100644 index 0000000000000000000000000000000000000000..98d79354661231b3bb9a7a7db5df2faa6daa706f --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000087.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:940dcb3b675880c6d79d381c28de4e9fc26f394e70884a8748be68201550e6d9 +size 13471182 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000088.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000088.parquet new file mode 100644 index 0000000000000000000000000000000000000000..dd9b9529f4f1c118ac898ab22f982060cab90367 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000088.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e383b70aa2e5f8dc209aa67291d3d563c87eafbebcf69d467532c4471b07c32a +size 14131228 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000089.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000089.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4f4c3cb6a4b6eb30fd76ebdee4553c4a5b677abd --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/data/chunk-000/episode_000089.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a01c0e2bc95d784df1753f6243d7a3fb9e51c5c4738edd755179aceb95219d99 +size 9410996 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/manifest.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a321b111a6c22c37ea271cca9c2b832a226e3374 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/manifest.json @@ -0,0 +1,1761 @@ +{ + "format": "latency_bench_starvla_h8_v2", + "task": "humanoidbench_balance_simple", + "robot_type": "latency_balance_h8", + "state_dim": 198, + "action_dim": 43, + "action_horizon": 8, + "vla_fps": 50.0, + "task_contract": "task_contract.json", + "state_key": "observation.state", + "action_key": "issued_command_chunk", + "video_keys": [ + "video.ego_view" + ], + "normalization": { + "state": { + "mean": [ + -0.025635866448283195, + 0.01927330158650875, + 1.158280849456787, + 0.8420453071594238, + 0.09217120707035065, + -0.24410997331142426, + 0.43043604493141174, + 0.6107878684997559, + -0.36157432198524475, + -2.2956392765045166, + -0.020235884934663773, + 0.25374069809913635, + 0.23445872962474823, + 0.9837883710861206, + 0.019179554656147957, + -2.2150073051452637, + 0.02453281171619892, + 0.01515278872102499, + 0.11208437383174896, + -2.5039801597595215, + -0.3171134293079376, + -0.0686328336596489, + 0.7423364520072937, + -0.09060867875814438, + 2.3995463848114014, + -0.9610512852668762, + 1.831926941871643, + 1.5193060636520386, + -1.5542447566986084, + 0.9558709859848022, + 0.9690955281257629, + 0.04609622061252594, + -0.10769475251436234, + -0.11746398359537125, + -0.050113387405872345, + -0.06978099048137665, + -1.0273784399032593, + 0.12156488746404648, + 2.523613214492798, + 1.9652788639068604, + 1.8964390754699707, + -1.3841028213500977, + 1.5590707063674927, + -0.9584358334541321, + -0.9712133407592773, + -0.1826982945203781, + 0.08000596612691879, + 0.0818018838763237, + 0.03333243355154991, + 0.08844511955976486, + 0.03909463435411453, + -0.0020254473201930523, + 0.3669467270374298, + 0.8385100364685059, + -0.016125880181789398, + 0.054703421890735626, + -0.41709983348846436, + 0.00392829068005085, + 0.00045848003355786204, + -0.009230023249983788, + 0.03995200991630554, + -0.025031527504324913, + -0.05424543470144272, + 0.06451783329248428, + -0.032721634954214096, + -0.17672590911388397, + 0.047239143401384354, + -0.007737244013696909, + 0.0070444741286337376, + 0.06683658063411713, + -0.0391998291015625, + -0.1848878562450409, + 0.06604130566120148, + 0.04000888392329216, + -0.04563077911734581, + -0.06146590784192085, + 0.005553993862122297, + 0.003672658698633313, + 0.004579359199851751, + 0.01721019111573696, + 0.009838767349720001, + -0.0411921963095665, + 0.05534300580620766, + 0.021276449784636497, + -0.017730142921209335, + 0.01852448470890522, + 0.026192817836999893, + 0.017280517145991325, + -0.020997602492570877, + -0.011225354857742786, + -0.013926774263381958, + -0.04107198119163513, + -0.013462104834616184, + -0.03042677603662014, + 0.05716199427843094, + 0.1439625322818756, + 0.036779891699552536, + -0.02483469247817993, + 0.04702555388212204, + -0.053644128143787384, + -0.04921655356884003, + -0.008309480734169483, + 0.01952100731432438, + 0.04048770293593407, + 0.018233107402920723, + 0.019435837864875793, + 0.0031018215231597424, + -0.0024947302881628275, + -0.00115527817979455, + -0.0010873962892219424, + 0.016630934551358223, + -0.10641032457351685, + 0.22848373651504517, + -0.8768635392189026, + -0.8304542899131775, + -0.9615831971168518, + 0.670092761516571, + 0.9886237382888794, + 0.12885665893554688, + 0.5178567171096802, + -0.8841050267219543, + -0.9407947659492493, + 0.21028102934360504, + 0.8530989289283752, + -0.9250379800796509, + -0.6095163822174072, + -0.9497316479682922, + 0.40414535999298096, + -0.9537464380264282, + 0.9410228729248047, + -0.9798156023025513, + 0.9365619421005249, + 0.9648406505584717, + -0.9663228392601013, + -0.3515448272228241, + 0.9753411412239075, + 0.9784616827964783, + 0.9814562797546387, + 0.9856275916099548, + -0.8747818470001221, + 0.9767156839370728, + 0.933849036693573, + 0.9374470710754395, + -0.9782372117042542, + 0.902039647102356, + 0.9001173377037048, + 0.9564682245254517, + 0.9555589556694031, + -0.9748904705047607, + -0.9779942035675049, + 0.8307808041572571, + -0.983437180519104, + -0.9420256614685059, + -0.9381495714187622, + -0.941119909286499, + 0.0023598656989634037, + -0.0006919423467479646, + -0.005112492013722658, + -0.0024081734009087086, + 0.0010813764529302716, + 0.00024064548779278994, + 0.000810829340480268, + -0.0005454471101984382, + -0.004711040761321783, + -0.002072703093290329, + 0.0010424338979646564, + 0.0005085889715701342, + -0.0023964685387909412, + -0.0008362433291040361, + -0.000606008165050298, + -0.0006688470020890236, + -0.0009728798759169877, + 0.00048423290718346834, + -0.0006415388197638094, + 0.0017771177226677537, + 0.00025553774321451783, + -0.00023540231632068753, + 0.0015673300949856639, + 0.002228525932878256, + 0.0014416706981137395, + 0.003562557976692915, + 0.0007267582695931196, + 4.854144572163932e-05, + 0.0022943762596696615, + 0.010386521928012371, + 0.002200278453528881, + 0.002316048601642251, + -0.003583162324503064, + -0.0007797399302944541, + -0.002008962444961071, + -0.0043142870999872684, + -0.01754925772547722, + -0.004589166026562452, + -0.00024148709781002253, + 0.003161373781040311, + 0.0026675332337617874, + 0.0019355244003236294, + 0.0044266218319535255 + ], + "std": [ + 0.042112722992897034, + 0.04505845904350281, + 0.019536972045898438, + 0.07037361711263657, + 0.05006727576255798, + 0.06939660757780075, + 0.15914051234722137, + 0.24234844744205475, + 0.09416885673999786, + 0.4407274127006531, + 0.10750807076692581, + 0.2626357674598694, + 0.054102811962366104, + 0.1717834770679474, + 0.13306479156017303, + 0.31821396946907043, + 0.16464810073375702, + 0.21407298743724823, + 0.11660125851631165, + 0.2629775404930115, + 0.1486019492149353, + 0.1976539045572281, + 0.5837306976318359, + 0.2469710409641266, + 0.530748188495636, + 0.2427956759929657, + 0.403916597366333, + 0.26059386134147644, + 0.22713233530521393, + 0.265508770942688, + 0.21963919699192047, + 0.0628613755106926, + 0.0950002521276474, + 0.09448856860399246, + 0.07075409591197968, + 0.09169046580791473, + 0.5220157504081726, + 0.07202603667974472, + 0.3999297320842743, + 0.20574519038200378, + 0.19621407985687256, + 0.4773261845111847, + 0.2585694491863251, + 0.14672568440437317, + 0.13609391450881958, + 0.1633865088224411, + 0.09336462616920471, + 0.13303150236606598, + 0.05337560549378395, + 0.059572525322437286, + 0.02921689674258232, + 0.037889618426561356, + 0.008081012405455112, + 0.1846792846918106, + 0.07211615145206451, + 0.06876874715089798, + 0.2750396430492401, + 0.18587853014469147, + 0.17891716957092285, + 0.18672071397304535, + 1.555896282196045, + 5.3200483322143555, + 2.9803826808929443, + 7.118279933929443, + 2.486052989959717, + 4.213277339935303, + 2.543344736099243, + 2.710487127304077, + 0.8883762955665588, + 6.316850662231445, + 3.336742639541626, + 4.776673793792725, + 2.6288328170776367, + 3.3566219806671143, + 1.661218523979187, + 3.915306568145752, + 4.724218368530273, + 4.932797908782959, + 2.136909008026123, + 1.6207040548324585, + 3.136301040649414, + 1.8850123882293701, + 2.979745626449585, + 1.7939871549606323, + 2.02539324760437, + 0.7491763234138489, + 0.7111855149269104, + 0.29316428303718567, + 0.41018393635749817, + 0.3058367967605591, + 0.293786883354187, + 0.44259271025657654, + 2.1374950408935547, + 0.9072792530059814, + 3.2727808952331543, + 2.3367841243743896, + 1.8729904890060425, + 2.61806058883667, + 2.2839386463165283, + 0.6254268884658813, + 0.55152428150177, + 0.46350836753845215, + 0.37798768281936646, + 0.4729953408241272, + 0.34176337718963623, + 0.3214370310306549, + 0.034481629729270935, + 0.03000626154243946, + 0.04121607914566994, + 0.46426302194595337, + 1.1549947261810303, + 0.20645256340503693, + 0.38286176323890686, + 0.21024583280086517, + 0.20109017193317413, + 0.11110064387321472, + 0.4993017911911011, + 0.12664839625358582, + 0.3112102746963501, + 0.45958274602890015, + 0.16487054526805878, + 0.1420261263847351, + 0.6352242827415466, + 0.3210887908935547, + 0.20551876723766327, + 0.4381053149700165, + 0.2540793716907501, + 0.4756494462490082, + 0.26818791031837463, + 0.2554219961166382, + 0.17210182547569275, + 0.2409321665763855, + 0.20948675274848938, + 0.19888614118099213, + 0.6238135099411011, + 0.13524000346660614, + 0.1719372719526291, + 0.14497122168540955, + 0.1304759383201599, + 0.35568591952323914, + 0.16346675157546997, + 0.3173375725746155, + 0.301760196685791, + 0.1277649998664856, + 0.23771989345550537, + 0.2279687523841858, + 0.1627088338136673, + 0.19090504944324493, + 0.1758655607700348, + 0.17635686695575714, + 0.3079434037208557, + 0.1469896137714386, + 0.15143197774887085, + 0.2174496352672577, + 0.24153263866901398, + 2.5400702953338623, + 0.7784927487373352, + 0.8014529943466187, + 0.49186092615127563, + 0.4644414186477661, + 0.032917048782110214, + 1.672908067703247, + 1.714320182800293, + 0.8200381398200989, + 0.6402446031570435, + 0.7721521258354187, + 0.12834757566452026, + 1.0096720457077026, + 0.4962703287601471, + 0.186701238155365, + 2.2119836807250977, + 0.4018729329109192, + 0.671302855014801, + 0.18353480100631714, + 0.47255533933639526, + 0.47546252608299255, + 0.5766538977622986, + 3.2763562202453613, + 0.3428060710430145, + 0.31066659092903137, + 0.2688332200050354, + 0.2205354869365692, + 0.8406859040260315, + 0.5111684203147888, + 3.486008644104004, + 0.5192767977714539, + 0.3546893298625946, + 0.8580999970436096, + 1.084633231163025, + 0.550735592842102, + 0.37371575832366943, + 2.1564550399780273, + 0.438833624124527, + 1.229128122329712, + 0.2862628102302551, + 0.456217497587204, + 0.4220508337020874, + 0.5346795320510864 + ], + "min": [ + -0.7738266587257385, + -0.7785519957542419, + 0.8047138452529907, + 0.362972617149353, + -0.39202219247817993, + -0.4537297189235687, + -0.6713520288467407, + -2.588404893875122, + -0.6120349764823914, + -2.8275368213653564, + -0.15372222661972046, + -0.951376736164093, + -0.2964325249195099, + -0.5498606562614441, + -1.340929388999939, + -2.8312742710113525, + -0.14424635469913483, + -0.9635779857635498, + -0.3421826958656311, + -2.713390350341797, + -0.8166407942771912, + -0.7465353012084961, + -2.435533046722412, + -0.34453630447387695, + -2.7231476306915283, + -1.1035892963409424, + -2.030799627304077, + -1.7918709516525269, + -1.6800199747085571, + -1.0816969871520996, + -0.7855164408683777, + -0.0179448239505291, + -1.310250997543335, + -0.6712160706520081, + -1.6470437049865723, + -1.6693241596221924, + -3.1658830642700195, + -2.3178460597991943, + -2.742156744003296, + -0.35477113723754883, + -2.047354221343994, + -1.6716742515563965, + -1.7795490026474, + -1.0988768339157104, + -1.0807112455368042, + -1.359919548034668, + -0.08745958656072617, + -0.10996361821889877, + -0.06902205944061279, + -0.03577714413404465, + -0.10725100338459015, + -0.16500449180603027, + 0.23212723433971405, + -0.15850719809532166, + -0.3389427661895752, + -0.48557326197624207, + -0.9999662041664124, + -2.193283796310425, + -2.005195140838623, + -2.9684982299804688, + -14.704641342163086, + -35.7442741394043, + -27.823253631591797, + -42.56782913208008, + -17.66596794128418, + -28.55613136291504, + -18.625905990600586, + -16.490507125854492, + -10.852964401245117, + -42.668060302734375, + -25.953622817993164, + -35.95486068725586, + -15.408480644226074, + -18.612506866455078, + -15.283103942871094, + -26.06655502319336, + -42.76798629760742, + -36.13262176513672, + -44.69192123413086, + -33.59485626220703, + -50.01041030883789, + -23.964738845825195, + -40.4901237487793, + -40.53788757324219, + -34.724002838134766, + -11.396271705627441, + -7.337916851043701, + -15.102253913879395, + -7.832427024841309, + -6.652492046356201, + -14.993180274963379, + -7.22700834274292, + -28.398658752441406, + -29.543663024902344, + -54.26047134399414, + -26.262248992919922, + -42.363643646240234, + -29.495105743408203, + -32.66628646850586, + -13.511029243469238, + -6.207447528839111, + -7.135590076446533, + -13.95861530303955, + -15.821308135986328, + -9.488734245300293, + -4.1378703117370605, + -0.5477244257926941, + -0.4000769257545471, + -1.1597175598144531, + -3.9295666217803955, + -10.370935440063477, + -2.286783218383789, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999978542327881, + -0.9999985694885254, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -1.0, + -0.9995517134666443, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0114316940307617, + -0.9999999403953552, + -0.9990360736846924, + -0.999999463558197, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999744296073914, + -1.0126216411590576, + -1.0111839771270752, + -1.0120774507522583, + -1.0110723972320557, + -8.430097579956055, + -5.3019328117370605, + -7.265376091003418, + -7.152298927307129, + -2.3262784481048584, + -0.8691455125808716, + -8.419623374938965, + -5.453756332397461, + -8.519572257995605, + -7.417658805847168, + -2.3270232677459717, + -0.8725661039352417, + -8.12804889678955, + -1.7331101894378662, + -1.7331427335739136, + -7.758448123931885, + -5.18779182434082, + -7.035597801208496, + -4.171591281890869, + -5.295297145843506, + -7.329815864562988, + -7.226667404174805, + -7.7832183837890625, + -5.068985462188721, + -6.892783164978027, + -4.231439590454102, + -5.301170825958252, + -7.298786640167236, + -7.309111595153809, + -33.23622131347656, + -7.354803562164307, + -7.201472282409668, + -6.52398157119751, + -7.268587112426758, + -6.479650497436523, + -7.1601948738098145, + -33.16163635253906, + -7.369842529296875, + -7.256917953491211, + -6.44058895111084, + -7.232071399688721, + -6.4535651206970215, + -7.268499851226807 + ], + "max": [ + 0.7968977093696594, + 0.870449423789978, + 1.229228138923645, + 1.0098098516464233, + 0.6281046271324158, + 0.39047771692276, + 0.923689067363739, + 1.836792230606079, + 2.0094845294952393, + 0.5146425366401672, + 1.4299334287643433, + 0.5824787020683289, + 0.3080555200576782, + 1.6928329467773438, + 0.5641255974769592, + 0.574910044670105, + 1.4619487524032593, + 0.6180336475372314, + 0.34059756994247437, + 2.4387600421905518, + 0.7753986716270447, + 0.7548295855522156, + 2.7448768615722656, + 2.3413729667663574, + 2.7124242782592773, + 2.1763126850128174, + 2.0307083129882812, + 1.6608844995498657, + 1.6788032054901123, + 1.073332667350769, + 1.119672179222107, + 1.679815649986267, + 0.011416724883019924, + 0.009885883890092373, + 0.02091214619576931, + 0.039391230791807175, + 2.727888345718384, + 0.26414886116981506, + 2.6918773651123047, + 2.2842133045196533, + 2.0473055839538574, + 1.5992213487625122, + 1.6813691854476929, + 0.8559478521347046, + 0.7673411965370178, + 0.03894615173339844, + 1.5175704956054688, + 1.6913440227508545, + 1.3367129564285278, + 1.5084949731826782, + 0.20506694912910461, + 0.13876301050186157, + 0.44932129979133606, + 1.0099109411239624, + 0.4113212823867798, + 0.5044006109237671, + 0.3132859766483307, + 2.2153871059417725, + 2.56866455078125, + 1.0874477624893188, + 14.026494979858398, + 35.87355422973633, + 17.435447692871094, + 58.214996337890625, + 29.348100662231445, + 57.18246841430664, + 33.059749603271484, + 18.34288787841797, + 7.586318016052246, + 34.77031707763672, + 19.13775062561035, + 67.23902130126953, + 32.8304557800293, + 21.35066032409668, + 10.259953498840332, + 45.49869155883789, + 44.741912841796875, + 34.25974655151367, + 24.135086059570312, + 39.48954391479492, + 32.37991714477539, + 37.02838897705078, + 39.16765594482422, + 23.350276947021484, + 34.67495346069336, + 10.13438606262207, + 17.02427101135254, + 7.182557106018066, + 7.1651740074157715, + 4.514240741729736, + 4.544272422790527, + 7.851586818695068, + 48.17836380004883, + 31.60976219177246, + 42.078590393066406, + 33.623600006103516, + 37.444969177246094, + 29.93386459350586, + 29.09025764465332, + 8.599141120910645, + 7.06635046005249, + 4.504329204559326, + 10.100205421447754, + 8.537747383117676, + 11.322017669677734, + 7.311582088470459, + 0.6016557216644287, + 0.46527227759361267, + 0.5248227715492249, + 2.5876312255859375, + 10.419828414916992, + 2.212495803833008, + 0.9999999403953552, + 0.9999999403953552, + 0.7197454571723938, + 0.9845423102378845, + 1.0, + 0.9999999403953552, + 0.9999979734420776, + 1.0, + 0.9772722721099854, + 0.9999998807907104, + 1.0, + 0.9999999403953552, + 0.9999749660491943, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999960064888, + 1.012157678604126, + 1.0113283395767212, + 1.012593150138855, + 1.0112453699111938, + 0.9999973773956299, + 1.0, + 1.0114580392837524, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 8.45361614227295, + 5.409843444824219, + 7.038282871246338, + 7.3173346519470215, + 2.3257243633270264, + 0.8667038679122925, + 8.44979190826416, + 5.451396465301514, + 8.519572257995605, + 7.417666912078857, + 2.3254573345184326, + 0.8726640343666077, + 8.152491569519043, + 1.7332524061203003, + 1.7332826852798462, + 7.769432544708252, + 5.186692237854004, + 7.037702560424805, + 4.192294597625732, + 5.315018177032471, + 7.3286871910095215, + 7.305862903594971, + 7.78147554397583, + 5.187367916107178, + 6.911520481109619, + 4.21911096572876, + 5.290048599243164, + 7.284864902496338, + 7.319306373596191, + 33.33893585205078, + 7.366163730621338, + 7.271250247955322, + 6.540618419647217, + 7.163774013519287, + 6.516909599304199, + 7.196773529052734, + 33.23482894897461, + 7.359347820281982, + 7.252593517303467, + 6.366456985473633, + 7.220841884613037, + 6.449306488037109, + 7.263980865478516 + ], + "q01": [ + -0.1059706213325262, + -0.07322555936872958, + 1.1191173350811006, + 0.679385877251625, + -0.05206550966948271, + -0.35795281201601026, + -0.08105819717049596, + -0.25318225383758547, + -0.5263099247217178, + -2.7669665670394896, + -0.11667746432125568, + -0.7876168000698089, + -0.0008873671980109036, + 0.33318756997585297, + -0.4220974364876747, + -2.662647726535797, + -0.11147875376045704, + -0.5916734951734542, + -0.20154005140066147, + -2.642390201091766, + -0.5618392062187195, + -0.5271266180276871, + -0.43109364449977877, + -0.16410637736320496, + -0.00411854862235486, + -1.0625595700740815, + -0.09667239397764205, + 0.05577524997293949, + -1.6242454898357392, + -0.7248384058475494, + -0.34849473297595973, + 0.00018596773967146876, + -0.43447673320770264, + -0.4286180371046066, + -0.3288959085941315, + -0.26685177862644194, + -2.30307772397995, + -0.0015493131114635616, + 0.5286150228977203, + 0.991684068441391, + 1.1977828991413118, + -1.5713980436325072, + -0.007980468249879758, + -1.0198148810863494, + -1.0295359873771668, + -0.7010014879703522, + 1.1075910788349652e-05, + 3.796641805820402e-05, + -0.002652675125282258, + -0.0010495421348605304, + -0.014294282812625169, + -0.11820460259914398, + 0.34134758174419405, + 0.20981739565730095, + -0.1971270127594471, + -0.13211995631456375, + -0.96634621322155, + -0.5830292177200317, + -0.5944135797023773, + -0.5089943653345108, + -4.85288281917572, + -14.490709724426269, + -10.098205661773681, + -21.738415946960448, + -5.759124341011047, + -11.309423122406006, + -6.130308876037597, + -8.635315618515014, + -3.492782576084137, + -19.632789764404297, + -9.502745084762573, + -13.089497938156128, + -6.5785646152496335, + -9.744095964431763, + -5.848969163894653, + -11.457807102203368, + -14.555512323379515, + -12.21583477973938, + -6.847887320518494, + -4.45504744529724, + -11.898847789764405, + -6.687501616477967, + -11.476853771209717, + -5.3720994520187375, + -5.606906313896179, + -2.9537126946449277, + -2.2314684891700742, + -0.1491223007440567, + -1.4774546134471893, + -1.3940702176094055, + -0.9739846348762512, + -1.291306787729263, + -5.549564499855041, + -2.6417897081375123, + -5.568620076179504, + -5.234816064834595, + -3.056585736274719, + -9.270711669921875, + -6.528039121627807, + -3.5535058283805845, + -2.921538321971893, + -1.7942139887809754, + -0.5378423488140106, + -0.5881971716880798, + -0.31669264793395996, + -0.3238345617055893, + -0.09781760431826114, + -0.08309621661901474, + -0.11961487255990505, + -1.2058235335350036, + -3.209835648536682, + -0.6531460767984391, + -0.8885819673538208, + -1.0, + -1.0, + -0.9999999403953552, + -0.999003005027771, + 0.855252537727356, + -0.8852700787782669, + -0.9166188633441925, + -1.0, + -1.0, + -0.9978427135944367, + -0.6654279839992523, + -0.9999999403953552, + -0.9999729990959167, + -0.9999999403953552, + -0.9446608954668045, + -1.0, + -0.8733636730909348, + -1.0, + -0.5451807975769043, + -0.40755178332328795, + -0.9999997615814209, + -0.99991450548172, + 0.3189322656393051, + 0.2106913384795189, + 0.5466383516788483, + 0.7209190905094147, + -0.999997615814209, + 0.12745489791035658, + -0.9957364398241043, + -0.9848149216175079, + -0.9999992251396179, + -0.3119019436836242, + -0.2659728002548218, + 0.1642169997096062, + 0.0744642719626427, + -0.9999995231628418, + -0.9999999403953552, + -0.4796603178977966, + -0.9999997615814209, + -0.9999998807907104, + -0.9999967813491821, + -0.9999895095825195, + -5.832029194831848, + -2.636004958152771, + -2.583317222595215, + -1.54387482047081, + -1.597993677854538, + -0.00614931474905461, + -4.833893523216248, + -4.617929921150208, + -2.792983295917511, + -2.179419994354248, + -2.006844639778137, + -0.48490141987800595, + -3.8291208148002625, + -1.448185453414917, + -0.7589150667190552, + -5.719259076118469, + -0.9310647708177566, + -2.264724147319794, + -0.13117926448583603, + -1.646157112121582, + -1.1265769875049592, + -1.6594666540622711, + -7.088815479278565, + -0.7691190069913864, + -0.2737095314264297, + -0.32931179583072656, + -0.15996514678001403, + -3.3343448400497437, + -0.9833947724103927, + -12.1713152885437, + -1.241129493713379, + -0.6350447344779968, + -3.2221831035614015, + -4.0617134523391725, + -1.7525894010066985, + -1.0127829885482789, + -3.0726055645942685, + -0.5974031031131745, + -4.287043795585633, + -0.2522341841459274, + -1.2900772082805634, + -1.2486091482639312, + -1.4184790468215942 + ], + "q99": [ + 0.06062360130250495, + 0.08243259660899654, + 1.1935316359996797, + 0.9728069055080414, + 0.20790142372250559, + 0.007750333189033274, + 0.6821181941032416, + 0.9513507276773456, + -0.09067748270928817, + -0.902319039702413, + 0.49768854349851616, + 0.5371600770950318, + 0.27154604882001876, + 1.289898544549942, + 0.2552683055400851, + -1.1463078105449664, + 0.6094013017416001, + 0.4218133381009103, + 0.28174529552459715, + -1.3726214444637286, + 0.1816208744049085, + 0.4598455840349198, + 2.5422073483467105, + 1.645369020700457, + 2.6346838092803955, + 0.33028176426887634, + 1.9819732010364532, + 1.5883679223060607, + -0.2294815745949706, + 1.0474071991443634, + 1.0392625606060029, + 0.18259331449866378, + 0.0008039873669622509, + 0.0001011923354235485, + 0.0008182003005640603, + 8.414156654907873e-05, + 0.6845527529716505, + 0.1803370334208012, + 2.6385832738876345, + 2.1060218954086305, + 1.9819671821594238, + 1.1616523754596713, + 1.62172682762146, + -0.0006095676322000919, + -0.126132032126186, + 2.802880368108393e-05, + 0.3549252647161509, + 0.6623439753055622, + 0.17717068240046605, + 0.221679810881615, + 0.10683171056210995, + 0.06169814217835665, + 0.38602128446102146, + 0.9971175634860993, + 0.14167719855904579, + 0.21745531603693982, + 0.007019931268878344, + 0.5782898801565174, + 0.4393210509419453, + 0.41138115823268906, + 4.255398073196416, + 16.494801807403615, + 7.70051992416383, + 18.55417514801027, + 8.236512117385864, + 13.96522568702701, + 5.942360367774975, + 8.234539861679078, + 2.2543523359298714, + 17.453549938201927, + 7.982983231544497, + 15.898130187988322, + 9.402296295166098, + 8.949505929946904, + 4.226198358535778, + 14.962960710525527, + 14.57084172248843, + 14.625373058319099, + 6.013969349861195, + 5.4794220590591625, + 10.347935905456579, + 5.26764120578766, + 10.179061422348079, + 6.238092122077947, + 7.020430264473043, + 3.1866604971885755, + 3.770074193477631, + 0.6054882127046602, + 0.7263608664274216, + 0.700611503124239, + 0.5491872864961627, + 0.17242057025432647, + 6.290011057853717, + 2.4562095761299263, + 9.65687702178966, + 8.304952526092602, + 4.307369556427036, + 9.409512376785333, + 7.49382076740267, + 1.5907363700866715, + 0.9445658874511791, + 1.2241237854957618, + 1.1719621944427543, + 2.122948689460761, + 0.6521690672636252, + 0.7865366864204432, + 0.10589396975934529, + 0.07110530525445945, + 0.11455559574067627, + 1.3001963698863999, + 3.2042417454719585, + 0.45288409471511976, + 0.9778823554515844, + 0.02993349624797761, + -0.15149244070053006, + -0.49051137149333907, + 0.999252438545227, + 0.9999999403953552, + 0.8634047335386278, + 0.999685640335083, + -0.22685929387807843, + -0.309104263186454, + 0.9996544575691223, + 0.9999979138374329, + 0.17652750805020384, + 0.895593707561493, + 0.7706910198927008, + 0.9999987727403641, + 0.9567055803537396, + 0.9999889135360718, + -0.11376315921544367, + 1.0, + 0.9999977350234985, + 0.2212583427131348, + 0.991390958428383, + 0.9999985694885254, + 0.9999992847442627, + 0.9999999403953552, + 0.9999999403953552, + 0.9753171360492712, + 0.9999999403953552, + 0.999998927116394, + 0.9999995827674866, + -0.6165595281124076, + 0.9999999403953552, + 0.9999995827674866, + 0.9999920970201492, + 1.0, + -0.006899203760548317, + 0.04293421719223389, + 1.0, + -0.663221374154088, + -0.41522841155528817, + 0.41796202242378455, + 0.8624063724279446, + 6.242812004089371, + 2.5792232155799892, + 2.499589638710028, + 1.4799019134044702, + 1.6613757395744342, + 0.007180696725845662, + 4.894673504829424, + 4.317032833099375, + 2.58889780044556, + 2.118543298244477, + 2.080801265239716, + 0.4989215606451085, + 3.8988842678070297, + 1.4071551191806797, + 0.7434257751703283, + 5.7984748744964625, + 0.8670989370346114, + 2.377220633029938, + 0.11470026701688836, + 1.6907682049274477, + 1.1749551296234138, + 1.5018732464313589, + 7.14444738864899, + 0.8800609093904603, + 0.43633753895759897, + 0.38164688259363233, + 0.19386876940727432, + 3.3682362174987914, + 0.9230010265111935, + 12.487460165023816, + 1.2488960933685336, + 0.70224486768247, + 3.3042692732811036, + 4.253281240463258, + 1.7415197122097044, + 0.9388186782598515, + 3.311010940074972, + 0.36234861612319996, + 4.587373909950258, + 0.34277729898691195, + 1.280624896287921, + 1.261455546617513, + 1.557088985443117 + ] + }, + "action": { + "mean": [ + 0.7959898114204407, + 0.5228977203369141, + -2.428175687789917, + -0.309074729681015, + -0.3195468783378601, + -0.3192320466041565, + -2.301455020904541, + -2.4476866722106934, + -0.49558278918266296, + -0.03346357122063637, + -0.001685187453404069, + 0.9667679667472839, + -1.215242624282837, + 0.29551252722740173, + -0.028569087386131287, + -1.493161678314209, + 1.5362062454223633, + 0.2613345980644226, + 0.22364990413188934, + 2.4765260219573975, + 2.571157693862915, + -1.0225200653076172, + 2.0846688747406006, + 1.8540877103805542, + 1.9538458585739136, + 1.5714976787567139, + -1.4205882549285889, + -1.5688798427581787, + 1.5897024869918823, + 0.9853185415267944, + 1.0003451108932495, + 0.019797036424279213, + -0.07822708040475845, + -0.08779439330101013, + -0.034845586866140366, + -0.040097977966070175, + -1.0305582284927368, + -1.036097764968872, + -0.1483394056558609, + 0.013913169503211975, + 0.051525287330150604, + 0.04930776730179787, + 0.05270596966147423 + ], + "std": [ + 1.036950945854187, + 0.8438392877578735, + 0.5369921326637268, + 0.36739104986190796, + 0.8026944398880005, + 0.2249668687582016, + 0.5365131497383118, + 0.4322963356971741, + 0.1239250972867012, + 0.1464221030473709, + 0.2070380002260208, + 1.3576101064682007, + 1.8005298376083374, + 0.3465573191642761, + 0.44369906187057495, + 0.5179025530815125, + 0.2563841640949249, + 0.031248977407813072, + 0.08341854065656662, + 0.6562410593032837, + 0.4500460922718048, + 0.2731800675392151, + 0.16071636974811554, + 0.47569018602371216, + 0.2599450349807739, + 0.30979466438293457, + 0.5674522519111633, + 0.3182012140750885, + 0.23104844987392426, + 0.3276488482952118, + 0.2557191252708435, + 0.11622904241085052, + 0.19037115573883057, + 0.19998082518577576, + 0.12996840476989746, + 0.17227692902088165, + 0.1557493358850479, + 0.1528785675764084, + 0.2692328095436096, + 0.12015359103679657, + 0.13619183003902435, + 0.17271041870117188, + 0.21480974555015564 + ], + "min": [ + -2.5306999683380127, + -2.5306942462921143, + -2.618000030517578, + -0.5235999822616577, + -2.967097520828247, + -0.5199999809265137, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726699650287628, + -0.08726699650287628, + -3.089200019836426, + -3.089200019836426, + -0.8726699948310852, + -0.8726699948310852, + -1.5881999731063843, + -2.251499891281128, + -0.26179999113082886, + -0.26179999113082886, + -2.618000030517578, + -2.618000030517578, + -1.0471999645233154, + -1.046495795249939, + -1.9722199440002441, + -1.9722199440002441, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.0471999645233154, + -0.7243120074272156, + 0.0, + -1.5707999467849731, + -1.7444888353347778, + -1.5707999467849731, + -1.7453299760818481, + -1.0471999645233154, + -1.0471999645233154, + -1.7453076839447021, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 2.8797998428344727, + 2.8797945976257324, + 2.6179988384246826, + 2.967099905014038, + 0.5235999822616577, + 0.5199999809265137, + 2.0013227462768555, + 2.7323453426361084, + 0.5199999809265137, + 2.856868028640747, + 2.8797998428344727, + 2.6703999042510986, + 2.6703999042510986, + 0.5235999822616577, + 0.5235999822616577, + 2.251499891281128, + 1.5881999731063843, + 0.26179999113082886, + 0.26179999113082886, + 2.618000030517578, + 2.618000030517578, + 2.094399929046631, + 2.094399929046631, + 1.9722199440002441, + 1.9722199440002441, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.0471999645233154, + 1.0471999645233154, + 1.7453278303146362, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0471972227096558, + 0.7243120074272156, + 0.0, + 1.5707999467849731, + 1.7453299760818481, + 1.5707999467849731, + 1.7453299760818481 + ], + "q01": [ + -2.2431318759918213, + -2.2275888919830322, + -2.617999792098999, + -0.5235999822616577, + -2.8240888118743896, + -0.5199874639511108, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726691454648972, + -0.08726699650287628, + -2.8740804195404053, + -3.088956356048584, + -0.872017502784729, + -0.8712095618247986, + -1.5881999731063843, + 0.41434648633003235, + 0.2482401728630066, + -0.17439915239810944, + -2.3763270378112793, + 0.9237087565660478, + -1.0471999645233154, + 1.7061247825622559, + -1.1415928602218628, + 1.6603350639343262, + -0.11876842208206616, + -1.6144261360168457, + -1.6144295930862427, + 0.7907993793487549, + -1.0434150695800781, + -0.7000811100006104, + 7.802233312759199e-07, + -1.0570257902145386, + -1.1111327409744263, + -0.6695869565010071, + -0.8968654870986938, + -1.0471994876861572, + -1.0471999645233154, + -1.2922288179397583, + 5.149483399691235e-07, + 1.5604466341301304e-07, + 5.196297024667729e-06, + 1.0485681459613269e-05 + ], + "q99": [ + 2.8219339847564697, + 2.5108838081359863, + 0.5297284722328186, + 1.277254581451416, + 0.5230817198753357, + 0.4597421884536743, + -0.6499962866306066, + -0.7897148728370667, + 0.33223775029182434, + 0.5924091339111328, + 0.9083260297775269, + 2.6703968048095703, + 2.650707960128784, + 0.5230619561672212, + 0.5233774781227112, + 2.182425022125244, + 1.5881974697113037, + 0.26179999113082886, + 0.26179957389831543, + 2.617971181869507, + 2.6179981231689453, + 0.060908686369657516, + 2.094399929046631, + 1.9722199440002441, + 1.9722198247909546, + 1.6144264936447144, + 1.5651469230651855, + 0.34221699833869934, + 1.6144299507141113, + 1.0471988916397095, + 1.0471996068954468, + 0.3539747893810272, + -1.404404628146949e-07, + -8.842530974106921e-07, + -7.1156500780489296e-06, + -5.201488662009979e-08, + -0.3846815228462219, + -0.35126546025276184, + 0.0, + 0.3073590099811554, + 0.5300325751304626, + 1.1608226299285889, + 1.6748021841049194 + ] + } + }, + "prompt": "Keep the G1 humanoid balanced on the support board.", + "state_labels": [ + "state_0", + "state_1", + "state_2", + "state_3", + "state_4", + "state_5", + "state_6", + "state_7", + "state_8", + "state_9", + "state_10", + "state_11", + "state_12", + "state_13", + "state_14", + "state_15", + "state_16", + "state_17", + "state_18", + "state_19", + "state_20", + "state_21", + "state_22", + "state_23", + "state_24", + "state_25", + "state_26", + "state_27", + "state_28", + "state_29", + "state_30", + "state_31", + "state_32", + "state_33", + "state_34", + "state_35", + "state_36", + "state_37", + "state_38", + "state_39", + "state_40", + "state_41", + "state_42", + "state_43", + "state_44", + "state_45", + "state_46", + "state_47", + "state_48", + "state_49", + "state_50", + "state_51", + "state_52", + "state_53", + "state_54", + "state_55", + "state_56", + "state_57", + "state_58", + "state_59", + "state_60", + "state_61", + "state_62", + "state_63", + "state_64", + "state_65", + "state_66", + "state_67", + "state_68", + "state_69", + "state_70", + "state_71", + "state_72", + "state_73", + "state_74", + "state_75", + "state_76", + "state_77", + "state_78", + "state_79", + "state_80", + "state_81", + "state_82", + "state_83", + "state_84", + "state_85", + "state_86", + "state_87", + "state_88", + "state_89", + "state_90", + "state_91", + "state_92", + "state_93", + "state_94", + "state_95", + "state_96", + "state_97", + "state_98", + "state_99", + "state_100", + "state_101", + "state_102", + "state_103", + "state_104", + "state_105", + "state_106", + "state_107", + "state_108", + "state_109", + "state_110", + "state_111", + "state_112", + "state_113", + "state_114", + "state_115", + "state_116", + "state_117", + "state_118", + "state_119", + "state_120", + "state_121", + "state_122", + "state_123", + "state_124", + "state_125", + "state_126", + "state_127", + "state_128", + "state_129", + "state_130", + "state_131", + "state_132", + "state_133", + "state_134", + "state_135", + "state_136", + "state_137", + "state_138", + "state_139", + "state_140", + "state_141", + "state_142", + "state_143", + "state_144", + "state_145", + "state_146", + "state_147", + "state_148", + "state_149", + "state_150", + "state_151", + "state_152", + "state_153", + "state_154", + "state_155", + "state_156", + "state_157", + "state_158", + "state_159", + "state_160", + "state_161", + "state_162", + "state_163", + "state_164", + "state_165", + "state_166", + "state_167", + "state_168", + "state_169", + "state_170", + "state_171", + "state_172", + "state_173", + "state_174", + "state_175", + "state_176", + "state_177", + "state_178", + "state_179", + "state_180", + "state_181", + "state_182", + "state_183", + "state_184", + "state_185", + "state_186", + "state_187", + "state_188", + "state_189", + "state_190", + "state_191", + "state_192", + "state_193", + "state_194", + "state_195", + "state_196", + "state_197" + ], + "action_labels": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ], + "auxiliary": { + "action_valid_mask": { + "shape": [ + 8 + ], + "column": "action_valid_mask" + } + }, + "label_provenance": { + "semantics": "expert_closed_loop_compacted_applied_actions_v3", + "condition": "zero-latency", + "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth", + "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml", + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/episodes.jsonl b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9899290f7c9ac2a1d6ef6ca3e9f738a99920194f --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/episodes.jsonl @@ -0,0 +1,90 @@ +{"episode_index": 0, "length": 470} +{"episode_index": 1, "length": 232} +{"episode_index": 2, "length": 110} +{"episode_index": 3, "length": 762} +{"episode_index": 4, "length": 801} +{"episode_index": 5, "length": 234} +{"episode_index": 6, "length": 317} +{"episode_index": 7, "length": 1000} +{"episode_index": 8, "length": 512} +{"episode_index": 9, "length": 175} +{"episode_index": 10, "length": 792} +{"episode_index": 11, "length": 1000} +{"episode_index": 12, "length": 748} +{"episode_index": 13, "length": 870} +{"episode_index": 14, "length": 1000} +{"episode_index": 15, "length": 932} +{"episode_index": 16, "length": 746} +{"episode_index": 17, "length": 1000} +{"episode_index": 18, "length": 1000} +{"episode_index": 19, "length": 191} +{"episode_index": 20, "length": 1000} +{"episode_index": 21, "length": 855} +{"episode_index": 22, "length": 1000} +{"episode_index": 23, "length": 1000} +{"episode_index": 24, "length": 1000} +{"episode_index": 25, "length": 1000} +{"episode_index": 26, "length": 1000} +{"episode_index": 27, "length": 133} +{"episode_index": 28, "length": 837} +{"episode_index": 29, "length": 611} +{"episode_index": 30, "length": 1000} +{"episode_index": 31, "length": 474} +{"episode_index": 32, "length": 1000} +{"episode_index": 33, "length": 1000} +{"episode_index": 34, "length": 281} +{"episode_index": 35, "length": 879} +{"episode_index": 36, "length": 811} +{"episode_index": 37, "length": 767} +{"episode_index": 38, "length": 1000} +{"episode_index": 39, "length": 214} +{"episode_index": 40, "length": 800} +{"episode_index": 41, "length": 377} +{"episode_index": 42, "length": 560} +{"episode_index": 43, "length": 426} +{"episode_index": 44, "length": 1000} +{"episode_index": 45, "length": 916} +{"episode_index": 46, "length": 289} +{"episode_index": 47, "length": 780} +{"episode_index": 48, "length": 507} +{"episode_index": 49, "length": 572} +{"episode_index": 50, "length": 1000} +{"episode_index": 51, "length": 1000} +{"episode_index": 52, "length": 1000} +{"episode_index": 53, "length": 1000} +{"episode_index": 54, "length": 133} +{"episode_index": 55, "length": 766} +{"episode_index": 56, "length": 1000} +{"episode_index": 57, "length": 1000} +{"episode_index": 58, "length": 1000} +{"episode_index": 59, "length": 1000} +{"episode_index": 60, "length": 931} +{"episode_index": 61, "length": 527} +{"episode_index": 62, "length": 1000} +{"episode_index": 63, "length": 567} +{"episode_index": 64, "length": 1000} +{"episode_index": 65, "length": 1000} +{"episode_index": 66, "length": 919} +{"episode_index": 67, "length": 1000} +{"episode_index": 68, "length": 456} +{"episode_index": 69, "length": 960} +{"episode_index": 70, "length": 1000} +{"episode_index": 71, "length": 919} +{"episode_index": 72, "length": 1000} +{"episode_index": 73, "length": 881} +{"episode_index": 74, "length": 455} +{"episode_index": 75, "length": 1000} +{"episode_index": 76, "length": 1000} +{"episode_index": 77, "length": 825} +{"episode_index": 78, "length": 681} +{"episode_index": 79, "length": 1000} +{"episode_index": 80, "length": 894} +{"episode_index": 81, "length": 898} +{"episode_index": 82, "length": 874} +{"episode_index": 83, "length": 1000} +{"episode_index": 84, "length": 1000} +{"episode_index": 85, "length": 826} +{"episode_index": 86, "length": 636} +{"episode_index": 87, "length": 1000} +{"episode_index": 88, "length": 1000} +{"episode_index": 89, "length": 831} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/info.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..48cd006700cc82178889ddbae73f1bdbbe1af36d --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/info.json @@ -0,0 +1,392 @@ +{ + "codebase_version": "v2.0", + "fps": 50.0, + "total_episodes": 90, + "total_frames": 69960, + "total_tasks": 1, + "total_videos": 0, + "total_chunks": 1, + "chunks_size": 1000, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.image": { + "dtype": "image", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 50.0 + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 198 + ], + "names": [ + "state_0", + "state_1", + "state_2", + "state_3", + "state_4", + "state_5", + "state_6", + "state_7", + "state_8", + "state_9", + "state_10", + "state_11", + "state_12", + "state_13", + "state_14", + "state_15", + "state_16", + "state_17", + "state_18", + "state_19", + "state_20", + "state_21", + "state_22", + "state_23", + "state_24", + "state_25", + "state_26", + "state_27", + "state_28", + "state_29", + "state_30", + "state_31", + "state_32", + "state_33", + "state_34", + "state_35", + "state_36", + "state_37", + "state_38", + "state_39", + "state_40", + "state_41", + "state_42", + "state_43", + "state_44", + "state_45", + "state_46", + "state_47", + "state_48", + "state_49", + "state_50", + "state_51", + "state_52", + "state_53", + "state_54", + "state_55", + "state_56", + "state_57", + "state_58", + "state_59", + "state_60", + "state_61", + "state_62", + "state_63", + "state_64", + "state_65", + "state_66", + "state_67", + "state_68", + "state_69", + "state_70", + "state_71", + "state_72", + "state_73", + "state_74", + "state_75", + "state_76", + "state_77", + "state_78", + "state_79", + "state_80", + "state_81", + "state_82", + "state_83", + "state_84", + "state_85", + "state_86", + "state_87", + "state_88", + "state_89", + "state_90", + "state_91", + "state_92", + "state_93", + "state_94", + "state_95", + "state_96", + "state_97", + "state_98", + "state_99", + "state_100", + "state_101", + "state_102", + "state_103", + "state_104", + "state_105", + "state_106", + "state_107", + "state_108", + "state_109", + "state_110", + "state_111", + "state_112", + "state_113", + "state_114", + "state_115", + "state_116", + "state_117", + "state_118", + "state_119", + "state_120", + "state_121", + "state_122", + "state_123", + "state_124", + "state_125", + "state_126", + "state_127", + "state_128", + "state_129", + "state_130", + "state_131", + "state_132", + "state_133", + "state_134", + "state_135", + "state_136", + "state_137", + "state_138", + "state_139", + "state_140", + "state_141", + "state_142", + "state_143", + "state_144", + "state_145", + "state_146", + "state_147", + "state_148", + "state_149", + "state_150", + "state_151", + "state_152", + "state_153", + "state_154", + "state_155", + "state_156", + "state_157", + "state_158", + "state_159", + "state_160", + "state_161", + "state_162", + "state_163", + "state_164", + "state_165", + "state_166", + "state_167", + "state_168", + "state_169", + "state_170", + "state_171", + "state_172", + "state_173", + "state_174", + "state_175", + "state_176", + "state_177", + "state_178", + "state_179", + "state_180", + "state_181", + "state_182", + "state_183", + "state_184", + "state_185", + "state_186", + "state_187", + "state_188", + "state_189", + "state_190", + "state_191", + "state_192", + "state_193", + "state_194", + "state_195", + "state_196", + "state_197" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 43 + ], + "names": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ] + }, + "timestamp": { + "dtype": "float64", + "shape": [ + 1 + ] + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "latency": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "issued_command_chunk": { + "dtype": "float32", + "shape": [ + 8, + 43 + ], + "names": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ] + }, + "action_valid_mask": { + "dtype": "bool", + "shape": [ + 8 + ], + "names": null + } + }, + "label_provenance": { + "semantics": "expert_closed_loop_compacted_applied_actions_v3", + "condition": "zero-latency", + "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth", + "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml", + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/modality.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..37939fd4b4b6144caa0e2c3864211af8049d5ca5 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/modality.json @@ -0,0 +1,30 @@ +{ + "state": { + "proprio": { + "start": 0, + "end": 198, + "dtype": "float32", + "absolute": true, + "original_key": "observation.state" + } + }, + "action": { + "target": { + "start": 0, + "end": 43, + "dtype": "float32", + "absolute": true, + "original_key": "issued_command_chunk" + } + }, + "video": { + "ego_view": { + "original_key": "observation.image" + } + }, + "annotation": { + "human.task_description": { + "original_key": "task_index" + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/stats_gr00t.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/stats_gr00t.json new file mode 100644 index 0000000000000000000000000000000000000000..a5593043140c9107bd1ffa1e00182ffa48f6f42d --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/stats_gr00t.json @@ -0,0 +1,1482 @@ +{ + "__format_version": 2, + "__cache_config": { + "mode": "abs" + }, + "statistics": { + "observation.state": { + "mean": [ + -0.025635866448283195, + 0.01927330158650875, + 1.158280849456787, + 0.8420453071594238, + 0.09217120707035065, + -0.24410997331142426, + 0.43043604493141174, + 0.6107878684997559, + -0.36157432198524475, + -2.2956392765045166, + -0.020235884934663773, + 0.25374069809913635, + 0.23445872962474823, + 0.9837883710861206, + 0.019179554656147957, + -2.2150073051452637, + 0.02453281171619892, + 0.01515278872102499, + 0.11208437383174896, + -2.5039801597595215, + -0.3171134293079376, + -0.0686328336596489, + 0.7423364520072937, + -0.09060867875814438, + 2.3995463848114014, + -0.9610512852668762, + 1.831926941871643, + 1.5193060636520386, + -1.5542447566986084, + 0.9558709859848022, + 0.9690955281257629, + 0.04609622061252594, + -0.10769475251436234, + -0.11746398359537125, + -0.050113387405872345, + -0.06978099048137665, + -1.0273784399032593, + 0.12156488746404648, + 2.523613214492798, + 1.9652788639068604, + 1.8964390754699707, + -1.3841028213500977, + 1.5590707063674927, + -0.9584358334541321, + -0.9712133407592773, + -0.1826982945203781, + 0.08000596612691879, + 0.0818018838763237, + 0.03333243355154991, + 0.08844511955976486, + 0.03909463435411453, + -0.0020254473201930523, + 0.3669467270374298, + 0.8385100364685059, + -0.016125880181789398, + 0.054703421890735626, + -0.41709983348846436, + 0.00392829068005085, + 0.00045848003355786204, + -0.009230023249983788, + 0.03995200991630554, + -0.025031527504324913, + -0.05424543470144272, + 0.06451783329248428, + -0.032721634954214096, + -0.17672590911388397, + 0.047239143401384354, + -0.007737244013696909, + 0.0070444741286337376, + 0.06683658063411713, + -0.0391998291015625, + -0.1848878562450409, + 0.06604130566120148, + 0.04000888392329216, + -0.04563077911734581, + -0.06146590784192085, + 0.005553993862122297, + 0.003672658698633313, + 0.004579359199851751, + 0.01721019111573696, + 0.009838767349720001, + -0.0411921963095665, + 0.05534300580620766, + 0.021276449784636497, + -0.017730142921209335, + 0.01852448470890522, + 0.026192817836999893, + 0.017280517145991325, + -0.020997602492570877, + -0.011225354857742786, + -0.013926774263381958, + -0.04107198119163513, + -0.013462104834616184, + -0.03042677603662014, + 0.05716199427843094, + 0.1439625322818756, + 0.036779891699552536, + -0.02483469247817993, + 0.04702555388212204, + -0.053644128143787384, + -0.04921655356884003, + -0.008309480734169483, + 0.01952100731432438, + 0.04048770293593407, + 0.018233107402920723, + 0.019435837864875793, + 0.0031018215231597424, + -0.0024947302881628275, + -0.00115527817979455, + -0.0010873962892219424, + 0.016630934551358223, + -0.10641032457351685, + 0.22848373651504517, + -0.8768635392189026, + -0.8304542899131775, + -0.9615831971168518, + 0.670092761516571, + 0.9886237382888794, + 0.12885665893554688, + 0.5178567171096802, + -0.8841050267219543, + -0.9407947659492493, + 0.21028102934360504, + 0.8530989289283752, + -0.9250379800796509, + -0.6095163822174072, + -0.9497316479682922, + 0.40414535999298096, + -0.9537464380264282, + 0.9410228729248047, + -0.9798156023025513, + 0.9365619421005249, + 0.9648406505584717, + -0.9663228392601013, + -0.3515448272228241, + 0.9753411412239075, + 0.9784616827964783, + 0.9814562797546387, + 0.9856275916099548, + -0.8747818470001221, + 0.9767156839370728, + 0.933849036693573, + 0.9374470710754395, + -0.9782372117042542, + 0.902039647102356, + 0.9001173377037048, + 0.9564682245254517, + 0.9555589556694031, + -0.9748904705047607, + -0.9779942035675049, + 0.8307808041572571, + -0.983437180519104, + -0.9420256614685059, + -0.9381495714187622, + -0.941119909286499, + 0.0023598656989634037, + -0.0006919423467479646, + -0.005112492013722658, + -0.0024081734009087086, + 0.0010813764529302716, + 0.00024064548779278994, + 0.000810829340480268, + -0.0005454471101984382, + -0.004711040761321783, + -0.002072703093290329, + 0.0010424338979646564, + 0.0005085889715701342, + -0.0023964685387909412, + -0.0008362433291040361, + -0.000606008165050298, + -0.0006688470020890236, + -0.0009728798759169877, + 0.00048423290718346834, + -0.0006415388197638094, + 0.0017771177226677537, + 0.00025553774321451783, + -0.00023540231632068753, + 0.0015673300949856639, + 0.002228525932878256, + 0.0014416706981137395, + 0.003562557976692915, + 0.0007267582695931196, + 4.854144572163932e-05, + 0.0022943762596696615, + 0.010386521928012371, + 0.002200278453528881, + 0.002316048601642251, + -0.003583162324503064, + -0.0007797399302944541, + -0.002008962444961071, + -0.0043142870999872684, + -0.01754925772547722, + -0.004589166026562452, + -0.00024148709781002253, + 0.003161373781040311, + 0.0026675332337617874, + 0.0019355244003236294, + 0.0044266218319535255 + ], + "std": [ + 0.042112722992897034, + 0.04505845904350281, + 0.019536972045898438, + 0.07037361711263657, + 0.05006727576255798, + 0.06939660757780075, + 0.15914051234722137, + 0.24234844744205475, + 0.09416885673999786, + 0.4407274127006531, + 0.10750807076692581, + 0.2626357674598694, + 0.054102811962366104, + 0.1717834770679474, + 0.13306479156017303, + 0.31821396946907043, + 0.16464810073375702, + 0.21407298743724823, + 0.11660125851631165, + 0.2629775404930115, + 0.1486019492149353, + 0.1976539045572281, + 0.5837306976318359, + 0.2469710409641266, + 0.530748188495636, + 0.2427956759929657, + 0.403916597366333, + 0.26059386134147644, + 0.22713233530521393, + 0.265508770942688, + 0.21963919699192047, + 0.0628613755106926, + 0.0950002521276474, + 0.09448856860399246, + 0.07075409591197968, + 0.09169046580791473, + 0.5220157504081726, + 0.07202603667974472, + 0.3999297320842743, + 0.20574519038200378, + 0.19621407985687256, + 0.4773261845111847, + 0.2585694491863251, + 0.14672568440437317, + 0.13609391450881958, + 0.1633865088224411, + 0.09336462616920471, + 0.13303150236606598, + 0.05337560549378395, + 0.059572525322437286, + 0.02921689674258232, + 0.037889618426561356, + 0.008081012405455112, + 0.1846792846918106, + 0.07211615145206451, + 0.06876874715089798, + 0.2750396430492401, + 0.18587853014469147, + 0.17891716957092285, + 0.18672071397304535, + 1.555896282196045, + 5.3200483322143555, + 2.9803826808929443, + 7.118279933929443, + 2.486052989959717, + 4.213277339935303, + 2.543344736099243, + 2.710487127304077, + 0.8883762955665588, + 6.316850662231445, + 3.336742639541626, + 4.776673793792725, + 2.6288328170776367, + 3.3566219806671143, + 1.661218523979187, + 3.915306568145752, + 4.724218368530273, + 4.932797908782959, + 2.136909008026123, + 1.6207040548324585, + 3.136301040649414, + 1.8850123882293701, + 2.979745626449585, + 1.7939871549606323, + 2.02539324760437, + 0.7491763234138489, + 0.7111855149269104, + 0.29316428303718567, + 0.41018393635749817, + 0.3058367967605591, + 0.293786883354187, + 0.44259271025657654, + 2.1374950408935547, + 0.9072792530059814, + 3.2727808952331543, + 2.3367841243743896, + 1.8729904890060425, + 2.61806058883667, + 2.2839386463165283, + 0.6254268884658813, + 0.55152428150177, + 0.46350836753845215, + 0.37798768281936646, + 0.4729953408241272, + 0.34176337718963623, + 0.3214370310306549, + 0.034481629729270935, + 0.03000626154243946, + 0.04121607914566994, + 0.46426302194595337, + 1.1549947261810303, + 0.20645256340503693, + 0.38286176323890686, + 0.21024583280086517, + 0.20109017193317413, + 0.11110064387321472, + 0.4993017911911011, + 0.12664839625358582, + 0.3112102746963501, + 0.45958274602890015, + 0.16487054526805878, + 0.1420261263847351, + 0.6352242827415466, + 0.3210887908935547, + 0.20551876723766327, + 0.4381053149700165, + 0.2540793716907501, + 0.4756494462490082, + 0.26818791031837463, + 0.2554219961166382, + 0.17210182547569275, + 0.2409321665763855, + 0.20948675274848938, + 0.19888614118099213, + 0.6238135099411011, + 0.13524000346660614, + 0.1719372719526291, + 0.14497122168540955, + 0.1304759383201599, + 0.35568591952323914, + 0.16346675157546997, + 0.3173375725746155, + 0.301760196685791, + 0.1277649998664856, + 0.23771989345550537, + 0.2279687523841858, + 0.1627088338136673, + 0.19090504944324493, + 0.1758655607700348, + 0.17635686695575714, + 0.3079434037208557, + 0.1469896137714386, + 0.15143197774887085, + 0.2174496352672577, + 0.24153263866901398, + 2.5400702953338623, + 0.7784927487373352, + 0.8014529943466187, + 0.49186092615127563, + 0.4644414186477661, + 0.032917048782110214, + 1.672908067703247, + 1.714320182800293, + 0.8200381398200989, + 0.6402446031570435, + 0.7721521258354187, + 0.12834757566452026, + 1.0096720457077026, + 0.4962703287601471, + 0.186701238155365, + 2.2119836807250977, + 0.4018729329109192, + 0.671302855014801, + 0.18353480100631714, + 0.47255533933639526, + 0.47546252608299255, + 0.5766538977622986, + 3.2763562202453613, + 0.3428060710430145, + 0.31066659092903137, + 0.2688332200050354, + 0.2205354869365692, + 0.8406859040260315, + 0.5111684203147888, + 3.486008644104004, + 0.5192767977714539, + 0.3546893298625946, + 0.8580999970436096, + 1.084633231163025, + 0.550735592842102, + 0.37371575832366943, + 2.1564550399780273, + 0.438833624124527, + 1.229128122329712, + 0.2862628102302551, + 0.456217497587204, + 0.4220508337020874, + 0.5346795320510864 + ], + "min": [ + -0.7738266587257385, + -0.7785519957542419, + 0.8047138452529907, + 0.362972617149353, + -0.39202219247817993, + -0.4537297189235687, + -0.6713520288467407, + -2.588404893875122, + -0.6120349764823914, + -2.8275368213653564, + -0.15372222661972046, + -0.951376736164093, + -0.2964325249195099, + -0.5498606562614441, + -1.340929388999939, + -2.8312742710113525, + -0.14424635469913483, + -0.9635779857635498, + -0.3421826958656311, + -2.713390350341797, + -0.8166407942771912, + -0.7465353012084961, + -2.435533046722412, + -0.34453630447387695, + -2.7231476306915283, + -1.1035892963409424, + -2.030799627304077, + -1.7918709516525269, + -1.6800199747085571, + -1.0816969871520996, + -0.7855164408683777, + -0.0179448239505291, + -1.310250997543335, + -0.6712160706520081, + -1.6470437049865723, + -1.6693241596221924, + -3.1658830642700195, + -2.3178460597991943, + -2.742156744003296, + -0.35477113723754883, + -2.047354221343994, + -1.6716742515563965, + -1.7795490026474, + -1.0988768339157104, + -1.0807112455368042, + -1.359919548034668, + -0.08745958656072617, + -0.10996361821889877, + -0.06902205944061279, + -0.03577714413404465, + -0.10725100338459015, + -0.16500449180603027, + 0.23212723433971405, + -0.15850719809532166, + -0.3389427661895752, + -0.48557326197624207, + -0.9999662041664124, + -2.193283796310425, + -2.005195140838623, + -2.9684982299804688, + -14.704641342163086, + -35.7442741394043, + -27.823253631591797, + -42.56782913208008, + -17.66596794128418, + -28.55613136291504, + -18.625905990600586, + -16.490507125854492, + -10.852964401245117, + -42.668060302734375, + -25.953622817993164, + -35.95486068725586, + -15.408480644226074, + -18.612506866455078, + -15.283103942871094, + -26.06655502319336, + -42.76798629760742, + -36.13262176513672, + -44.69192123413086, + -33.59485626220703, + -50.01041030883789, + -23.964738845825195, + -40.4901237487793, + -40.53788757324219, + -34.724002838134766, + -11.396271705627441, + -7.337916851043701, + -15.102253913879395, + -7.832427024841309, + -6.652492046356201, + -14.993180274963379, + -7.22700834274292, + -28.398658752441406, + -29.543663024902344, + -54.26047134399414, + -26.262248992919922, + -42.363643646240234, + -29.495105743408203, + -32.66628646850586, + -13.511029243469238, + -6.207447528839111, + -7.135590076446533, + -13.95861530303955, + -15.821308135986328, + -9.488734245300293, + -4.1378703117370605, + -0.5477244257926941, + -0.4000769257545471, + -1.1597175598144531, + -3.9295666217803955, + -10.370935440063477, + -2.286783218383789, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999978542327881, + -0.9999985694885254, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -1.0, + -0.9995517134666443, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0114316940307617, + -0.9999999403953552, + -0.9990360736846924, + -0.999999463558197, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999744296073914, + -1.0126216411590576, + -1.0111839771270752, + -1.0120774507522583, + -1.0110723972320557, + -8.430097579956055, + -5.3019328117370605, + -7.265376091003418, + -7.152298927307129, + -2.3262784481048584, + -0.8691455125808716, + -8.419623374938965, + -5.453756332397461, + -8.519572257995605, + -7.417658805847168, + -2.3270232677459717, + -0.8725661039352417, + -8.12804889678955, + -1.7331101894378662, + -1.7331427335739136, + -7.758448123931885, + -5.18779182434082, + -7.035597801208496, + -4.171591281890869, + -5.295297145843506, + -7.329815864562988, + -7.226667404174805, + -7.7832183837890625, + -5.068985462188721, + -6.892783164978027, + -4.231439590454102, + -5.301170825958252, + -7.298786640167236, + -7.309111595153809, + -33.23622131347656, + -7.354803562164307, + -7.201472282409668, + -6.52398157119751, + -7.268587112426758, + -6.479650497436523, + -7.1601948738098145, + -33.16163635253906, + -7.369842529296875, + -7.256917953491211, + -6.44058895111084, + -7.232071399688721, + -6.4535651206970215, + -7.268499851226807 + ], + "max": [ + 0.7968977093696594, + 0.870449423789978, + 1.229228138923645, + 1.0098098516464233, + 0.6281046271324158, + 0.39047771692276, + 0.923689067363739, + 1.836792230606079, + 2.0094845294952393, + 0.5146425366401672, + 1.4299334287643433, + 0.5824787020683289, + 0.3080555200576782, + 1.6928329467773438, + 0.5641255974769592, + 0.574910044670105, + 1.4619487524032593, + 0.6180336475372314, + 0.34059756994247437, + 2.4387600421905518, + 0.7753986716270447, + 0.7548295855522156, + 2.7448768615722656, + 2.3413729667663574, + 2.7124242782592773, + 2.1763126850128174, + 2.0307083129882812, + 1.6608844995498657, + 1.6788032054901123, + 1.073332667350769, + 1.119672179222107, + 1.679815649986267, + 0.011416724883019924, + 0.009885883890092373, + 0.02091214619576931, + 0.039391230791807175, + 2.727888345718384, + 0.26414886116981506, + 2.6918773651123047, + 2.2842133045196533, + 2.0473055839538574, + 1.5992213487625122, + 1.6813691854476929, + 0.8559478521347046, + 0.7673411965370178, + 0.03894615173339844, + 1.5175704956054688, + 1.6913440227508545, + 1.3367129564285278, + 1.5084949731826782, + 0.20506694912910461, + 0.13876301050186157, + 0.44932129979133606, + 1.0099109411239624, + 0.4113212823867798, + 0.5044006109237671, + 0.3132859766483307, + 2.2153871059417725, + 2.56866455078125, + 1.0874477624893188, + 14.026494979858398, + 35.87355422973633, + 17.435447692871094, + 58.214996337890625, + 29.348100662231445, + 57.18246841430664, + 33.059749603271484, + 18.34288787841797, + 7.586318016052246, + 34.77031707763672, + 19.13775062561035, + 67.23902130126953, + 32.8304557800293, + 21.35066032409668, + 10.259953498840332, + 45.49869155883789, + 44.741912841796875, + 34.25974655151367, + 24.135086059570312, + 39.48954391479492, + 32.37991714477539, + 37.02838897705078, + 39.16765594482422, + 23.350276947021484, + 34.67495346069336, + 10.13438606262207, + 17.02427101135254, + 7.182557106018066, + 7.1651740074157715, + 4.514240741729736, + 4.544272422790527, + 7.851586818695068, + 48.17836380004883, + 31.60976219177246, + 42.078590393066406, + 33.623600006103516, + 37.444969177246094, + 29.93386459350586, + 29.09025764465332, + 8.599141120910645, + 7.06635046005249, + 4.504329204559326, + 10.100205421447754, + 8.537747383117676, + 11.322017669677734, + 7.311582088470459, + 0.6016557216644287, + 0.46527227759361267, + 0.5248227715492249, + 2.5876312255859375, + 10.419828414916992, + 2.212495803833008, + 0.9999999403953552, + 0.9999999403953552, + 0.7197454571723938, + 0.9845423102378845, + 1.0, + 0.9999999403953552, + 0.9999979734420776, + 1.0, + 0.9772722721099854, + 0.9999998807907104, + 1.0, + 0.9999999403953552, + 0.9999749660491943, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999960064888, + 1.012157678604126, + 1.0113283395767212, + 1.012593150138855, + 1.0112453699111938, + 0.9999973773956299, + 1.0, + 1.0114580392837524, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 8.45361614227295, + 5.409843444824219, + 7.038282871246338, + 7.3173346519470215, + 2.3257243633270264, + 0.8667038679122925, + 8.44979190826416, + 5.451396465301514, + 8.519572257995605, + 7.417666912078857, + 2.3254573345184326, + 0.8726640343666077, + 8.152491569519043, + 1.7332524061203003, + 1.7332826852798462, + 7.769432544708252, + 5.186692237854004, + 7.037702560424805, + 4.192294597625732, + 5.315018177032471, + 7.3286871910095215, + 7.305862903594971, + 7.78147554397583, + 5.187367916107178, + 6.911520481109619, + 4.21911096572876, + 5.290048599243164, + 7.284864902496338, + 7.319306373596191, + 33.33893585205078, + 7.366163730621338, + 7.271250247955322, + 6.540618419647217, + 7.163774013519287, + 6.516909599304199, + 7.196773529052734, + 33.23482894897461, + 7.359347820281982, + 7.252593517303467, + 6.366456985473633, + 7.220841884613037, + 6.449306488037109, + 7.263980865478516 + ], + "q01": [ + -0.1059706213325262, + -0.07322555936872958, + 1.1191173350811006, + 0.679385877251625, + -0.05206550966948271, + -0.35795281201601026, + -0.08105819717049596, + -0.25318225383758547, + -0.5263099247217178, + -2.7669665670394896, + -0.11667746432125568, + -0.7876168000698089, + -0.0008873671980109036, + 0.33318756997585297, + -0.4220974364876747, + -2.662647726535797, + -0.11147875376045704, + -0.5916734951734542, + -0.20154005140066147, + -2.642390201091766, + -0.5618392062187195, + -0.5271266180276871, + -0.43109364449977877, + -0.16410637736320496, + -0.00411854862235486, + -1.0625595700740815, + -0.09667239397764205, + 0.05577524997293949, + -1.6242454898357392, + -0.7248384058475494, + -0.34849473297595973, + 0.00018596773967146876, + -0.43447673320770264, + -0.4286180371046066, + -0.3288959085941315, + -0.26685177862644194, + -2.30307772397995, + -0.0015493131114635616, + 0.5286150228977203, + 0.991684068441391, + 1.1977828991413118, + -1.5713980436325072, + -0.007980468249879758, + -1.0198148810863494, + -1.0295359873771668, + -0.7010014879703522, + 1.1075910788349652e-05, + 3.796641805820402e-05, + -0.002652675125282258, + -0.0010495421348605304, + -0.014294282812625169, + -0.11820460259914398, + 0.34134758174419405, + 0.20981739565730095, + -0.1971270127594471, + -0.13211995631456375, + -0.96634621322155, + -0.5830292177200317, + -0.5944135797023773, + -0.5089943653345108, + -4.85288281917572, + -14.490709724426269, + -10.098205661773681, + -21.738415946960448, + -5.759124341011047, + -11.309423122406006, + -6.130308876037597, + -8.635315618515014, + -3.492782576084137, + -19.632789764404297, + -9.502745084762573, + -13.089497938156128, + -6.5785646152496335, + -9.744095964431763, + -5.848969163894653, + -11.457807102203368, + -14.555512323379515, + -12.21583477973938, + -6.847887320518494, + -4.45504744529724, + -11.898847789764405, + -6.687501616477967, + -11.476853771209717, + -5.3720994520187375, + -5.606906313896179, + -2.9537126946449277, + -2.2314684891700742, + -0.1491223007440567, + -1.4774546134471893, + -1.3940702176094055, + -0.9739846348762512, + -1.291306787729263, + -5.549564499855041, + -2.6417897081375123, + -5.568620076179504, + -5.234816064834595, + -3.056585736274719, + -9.270711669921875, + -6.528039121627807, + -3.5535058283805845, + -2.921538321971893, + -1.7942139887809754, + -0.5378423488140106, + -0.5881971716880798, + -0.31669264793395996, + -0.3238345617055893, + -0.09781760431826114, + -0.08309621661901474, + -0.11961487255990505, + -1.2058235335350036, + -3.209835648536682, + -0.6531460767984391, + -0.8885819673538208, + -1.0, + -1.0, + -0.9999999403953552, + -0.999003005027771, + 0.855252537727356, + -0.8852700787782669, + -0.9166188633441925, + -1.0, + -1.0, + -0.9978427135944367, + -0.6654279839992523, + -0.9999999403953552, + -0.9999729990959167, + -0.9999999403953552, + -0.9446608954668045, + -1.0, + -0.8733636730909348, + -1.0, + -0.5451807975769043, + -0.40755178332328795, + -0.9999997615814209, + -0.99991450548172, + 0.3189322656393051, + 0.2106913384795189, + 0.5466383516788483, + 0.7209190905094147, + -0.999997615814209, + 0.12745489791035658, + -0.9957364398241043, + -0.9848149216175079, + -0.9999992251396179, + -0.3119019436836242, + -0.2659728002548218, + 0.1642169997096062, + 0.0744642719626427, + -0.9999995231628418, + -0.9999999403953552, + -0.4796603178977966, + -0.9999997615814209, + -0.9999998807907104, + -0.9999967813491821, + -0.9999895095825195, + -5.832029194831848, + -2.636004958152771, + -2.583317222595215, + -1.54387482047081, + -1.597993677854538, + -0.00614931474905461, + -4.833893523216248, + -4.617929921150208, + -2.792983295917511, + -2.179419994354248, + -2.006844639778137, + -0.48490141987800595, + -3.8291208148002625, + -1.448185453414917, + -0.7589150667190552, + -5.719259076118469, + -0.9310647708177566, + -2.264724147319794, + -0.13117926448583603, + -1.646157112121582, + -1.1265769875049592, + -1.6594666540622711, + -7.088815479278565, + -0.7691190069913864, + -0.2737095314264297, + -0.32931179583072656, + -0.15996514678001403, + -3.3343448400497437, + -0.9833947724103927, + -12.1713152885437, + -1.241129493713379, + -0.6350447344779968, + -3.2221831035614015, + -4.0617134523391725, + -1.7525894010066985, + -1.0127829885482789, + -3.0726055645942685, + -0.5974031031131745, + -4.287043795585633, + -0.2522341841459274, + -1.2900772082805634, + -1.2486091482639312, + -1.4184790468215942 + ], + "q99": [ + 0.06062360130250495, + 0.08243259660899654, + 1.1935316359996797, + 0.9728069055080414, + 0.20790142372250559, + 0.007750333189033274, + 0.6821181941032416, + 0.9513507276773456, + -0.09067748270928817, + -0.902319039702413, + 0.49768854349851616, + 0.5371600770950318, + 0.27154604882001876, + 1.289898544549942, + 0.2552683055400851, + -1.1463078105449664, + 0.6094013017416001, + 0.4218133381009103, + 0.28174529552459715, + -1.3726214444637286, + 0.1816208744049085, + 0.4598455840349198, + 2.5422073483467105, + 1.645369020700457, + 2.6346838092803955, + 0.33028176426887634, + 1.9819732010364532, + 1.5883679223060607, + -0.2294815745949706, + 1.0474071991443634, + 1.0392625606060029, + 0.18259331449866378, + 0.0008039873669622509, + 0.0001011923354235485, + 0.0008182003005640603, + 8.414156654907873e-05, + 0.6845527529716505, + 0.1803370334208012, + 2.6385832738876345, + 2.1060218954086305, + 1.9819671821594238, + 1.1616523754596713, + 1.62172682762146, + -0.0006095676322000919, + -0.126132032126186, + 2.802880368108393e-05, + 0.3549252647161509, + 0.6623439753055622, + 0.17717068240046605, + 0.221679810881615, + 0.10683171056210995, + 0.06169814217835665, + 0.38602128446102146, + 0.9971175634860993, + 0.14167719855904579, + 0.21745531603693982, + 0.007019931268878344, + 0.5782898801565174, + 0.4393210509419453, + 0.41138115823268906, + 4.255398073196416, + 16.494801807403615, + 7.70051992416383, + 18.55417514801027, + 8.236512117385864, + 13.96522568702701, + 5.942360367774975, + 8.234539861679078, + 2.2543523359298714, + 17.453549938201927, + 7.982983231544497, + 15.898130187988322, + 9.402296295166098, + 8.949505929946904, + 4.226198358535778, + 14.962960710525527, + 14.57084172248843, + 14.625373058319099, + 6.013969349861195, + 5.4794220590591625, + 10.347935905456579, + 5.26764120578766, + 10.179061422348079, + 6.238092122077947, + 7.020430264473043, + 3.1866604971885755, + 3.770074193477631, + 0.6054882127046602, + 0.7263608664274216, + 0.700611503124239, + 0.5491872864961627, + 0.17242057025432647, + 6.290011057853717, + 2.4562095761299263, + 9.65687702178966, + 8.304952526092602, + 4.307369556427036, + 9.409512376785333, + 7.49382076740267, + 1.5907363700866715, + 0.9445658874511791, + 1.2241237854957618, + 1.1719621944427543, + 2.122948689460761, + 0.6521690672636252, + 0.7865366864204432, + 0.10589396975934529, + 0.07110530525445945, + 0.11455559574067627, + 1.3001963698863999, + 3.2042417454719585, + 0.45288409471511976, + 0.9778823554515844, + 0.02993349624797761, + -0.15149244070053006, + -0.49051137149333907, + 0.999252438545227, + 0.9999999403953552, + 0.8634047335386278, + 0.999685640335083, + -0.22685929387807843, + -0.309104263186454, + 0.9996544575691223, + 0.9999979138374329, + 0.17652750805020384, + 0.895593707561493, + 0.7706910198927008, + 0.9999987727403641, + 0.9567055803537396, + 0.9999889135360718, + -0.11376315921544367, + 1.0, + 0.9999977350234985, + 0.2212583427131348, + 0.991390958428383, + 0.9999985694885254, + 0.9999992847442627, + 0.9999999403953552, + 0.9999999403953552, + 0.9753171360492712, + 0.9999999403953552, + 0.999998927116394, + 0.9999995827674866, + -0.6165595281124076, + 0.9999999403953552, + 0.9999995827674866, + 0.9999920970201492, + 1.0, + -0.006899203760548317, + 0.04293421719223389, + 1.0, + -0.663221374154088, + -0.41522841155528817, + 0.41796202242378455, + 0.8624063724279446, + 6.242812004089371, + 2.5792232155799892, + 2.499589638710028, + 1.4799019134044702, + 1.6613757395744342, + 0.007180696725845662, + 4.894673504829424, + 4.317032833099375, + 2.58889780044556, + 2.118543298244477, + 2.080801265239716, + 0.4989215606451085, + 3.8988842678070297, + 1.4071551191806797, + 0.7434257751703283, + 5.7984748744964625, + 0.8670989370346114, + 2.377220633029938, + 0.11470026701688836, + 1.6907682049274477, + 1.1749551296234138, + 1.5018732464313589, + 7.14444738864899, + 0.8800609093904603, + 0.43633753895759897, + 0.38164688259363233, + 0.19386876940727432, + 3.3682362174987914, + 0.9230010265111935, + 12.487460165023816, + 1.2488960933685336, + 0.70224486768247, + 3.3042692732811036, + 4.253281240463258, + 1.7415197122097044, + 0.9388186782598515, + 3.311010940074972, + 0.36234861612319996, + 4.587373909950258, + 0.34277729898691195, + 1.280624896287921, + 1.261455546617513, + 1.557088985443117 + ] + }, + "issued_command_chunk": { + "mean": [ + 0.7959898114204407, + 0.5228977203369141, + -2.428175687789917, + -0.309074729681015, + -0.3195468783378601, + -0.3192320466041565, + -2.301455020904541, + -2.4476866722106934, + -0.49558278918266296, + -0.03346357122063637, + -0.001685187453404069, + 0.9667679667472839, + -1.215242624282837, + 0.29551252722740173, + -0.028569087386131287, + -1.493161678314209, + 1.5362062454223633, + 0.2613345980644226, + 0.22364990413188934, + 2.4765260219573975, + 2.571157693862915, + -1.0225200653076172, + 2.0846688747406006, + 1.8540877103805542, + 1.9538458585739136, + 1.5714976787567139, + -1.4205882549285889, + -1.5688798427581787, + 1.5897024869918823, + 0.9853185415267944, + 1.0003451108932495, + 0.019797036424279213, + -0.07822708040475845, + -0.08779439330101013, + -0.034845586866140366, + -0.040097977966070175, + -1.0305582284927368, + -1.036097764968872, + -0.1483394056558609, + 0.013913169503211975, + 0.051525287330150604, + 0.04930776730179787, + 0.05270596966147423 + ], + "std": [ + 1.036950945854187, + 0.8438392877578735, + 0.5369921326637268, + 0.36739104986190796, + 0.8026944398880005, + 0.2249668687582016, + 0.5365131497383118, + 0.4322963356971741, + 0.1239250972867012, + 0.1464221030473709, + 0.2070380002260208, + 1.3576101064682007, + 1.8005298376083374, + 0.3465573191642761, + 0.44369906187057495, + 0.5179025530815125, + 0.2563841640949249, + 0.031248977407813072, + 0.08341854065656662, + 0.6562410593032837, + 0.4500460922718048, + 0.2731800675392151, + 0.16071636974811554, + 0.47569018602371216, + 0.2599450349807739, + 0.30979466438293457, + 0.5674522519111633, + 0.3182012140750885, + 0.23104844987392426, + 0.3276488482952118, + 0.2557191252708435, + 0.11622904241085052, + 0.19037115573883057, + 0.19998082518577576, + 0.12996840476989746, + 0.17227692902088165, + 0.1557493358850479, + 0.1528785675764084, + 0.2692328095436096, + 0.12015359103679657, + 0.13619183003902435, + 0.17271041870117188, + 0.21480974555015564 + ], + "min": [ + -2.5306999683380127, + -2.5306942462921143, + -2.618000030517578, + -0.5235999822616577, + -2.967097520828247, + -0.5199999809265137, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726699650287628, + -0.08726699650287628, + -3.089200019836426, + -3.089200019836426, + -0.8726699948310852, + -0.8726699948310852, + -1.5881999731063843, + -2.251499891281128, + -0.26179999113082886, + -0.26179999113082886, + -2.618000030517578, + -2.618000030517578, + -1.0471999645233154, + -1.046495795249939, + -1.9722199440002441, + -1.9722199440002441, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.0471999645233154, + -0.7243120074272156, + 0.0, + -1.5707999467849731, + -1.7444888353347778, + -1.5707999467849731, + -1.7453299760818481, + -1.0471999645233154, + -1.0471999645233154, + -1.7453076839447021, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 2.8797998428344727, + 2.8797945976257324, + 2.6179988384246826, + 2.967099905014038, + 0.5235999822616577, + 0.5199999809265137, + 2.0013227462768555, + 2.7323453426361084, + 0.5199999809265137, + 2.856868028640747, + 2.8797998428344727, + 2.6703999042510986, + 2.6703999042510986, + 0.5235999822616577, + 0.5235999822616577, + 2.251499891281128, + 1.5881999731063843, + 0.26179999113082886, + 0.26179999113082886, + 2.618000030517578, + 2.618000030517578, + 2.094399929046631, + 2.094399929046631, + 1.9722199440002441, + 1.9722199440002441, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.0471999645233154, + 1.0471999645233154, + 1.7453278303146362, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0471972227096558, + 0.7243120074272156, + 0.0, + 1.5707999467849731, + 1.7453299760818481, + 1.5707999467849731, + 1.7453299760818481 + ], + "q01": [ + -2.2431318759918213, + -2.2275888919830322, + -2.617999792098999, + -0.5235999822616577, + -2.8240888118743896, + -0.5199874639511108, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726691454648972, + -0.08726699650287628, + -2.8740804195404053, + -3.088956356048584, + -0.872017502784729, + -0.8712095618247986, + -1.5881999731063843, + 0.41434648633003235, + 0.2482401728630066, + -0.17439915239810944, + -2.3763270378112793, + 0.9237087565660478, + -1.0471999645233154, + 1.7061247825622559, + -1.1415928602218628, + 1.6603350639343262, + -0.11876842208206616, + -1.6144261360168457, + -1.6144295930862427, + 0.7907993793487549, + -1.0434150695800781, + -0.7000811100006104, + 7.802233312759199e-07, + -1.0570257902145386, + -1.1111327409744263, + -0.6695869565010071, + -0.8968654870986938, + -1.0471994876861572, + -1.0471999645233154, + -1.2922288179397583, + 5.149483399691235e-07, + 1.5604466341301304e-07, + 5.196297024667729e-06, + 1.0485681459613269e-05 + ], + "q99": [ + 2.8219339847564697, + 2.5108838081359863, + 0.5297284722328186, + 1.277254581451416, + 0.5230817198753357, + 0.4597421884536743, + -0.6499962866306066, + -0.7897148728370667, + 0.33223775029182434, + 0.5924091339111328, + 0.9083260297775269, + 2.6703968048095703, + 2.650707960128784, + 0.5230619561672212, + 0.5233774781227112, + 2.182425022125244, + 1.5881974697113037, + 0.26179999113082886, + 0.26179957389831543, + 2.617971181869507, + 2.6179981231689453, + 0.060908686369657516, + 2.094399929046631, + 1.9722199440002441, + 1.9722198247909546, + 1.6144264936447144, + 1.5651469230651855, + 0.34221699833869934, + 1.6144299507141113, + 1.0471988916397095, + 1.0471996068954468, + 0.3539747893810272, + -1.404404628146949e-07, + -8.842530974106921e-07, + -7.1156500780489296e-06, + -5.201488662009979e-08, + -0.3846815228462219, + -0.35126546025276184, + 0.0, + 0.3073590099811554, + 0.5300325751304626, + 1.1608226299285889, + 1.6748021841049194 + ] + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c9e9f42c5f893071ee70fcf945839612affd2414 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task": "Keep the G1 humanoid balanced on the support board.", "task_index": 0} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/task_contract.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..ebdabba02cd30dc8774e55a6b40c80a274243257 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot/task_contract.json @@ -0,0 +1,1760 @@ +{ + "format": "latency_bench_starvla_h8_v2", + "task": "humanoidbench_balance_simple", + "robot_type": "latency_balance_h8", + "state_dim": 198, + "action_dim": 43, + "action_horizon": 8, + "fps": 50.0, + "state_key": "observation.state", + "action_key": "issued_command_chunk", + "video_keys": [ + "video.ego_view" + ], + "auxiliary": { + "action_valid_mask": { + "shape": [ + 8 + ], + "column": "action_valid_mask" + } + }, + "normalization": { + "state": { + "mean": [ + -0.025635866448283195, + 0.01927330158650875, + 1.158280849456787, + 0.8420453071594238, + 0.09217120707035065, + -0.24410997331142426, + 0.43043604493141174, + 0.6107878684997559, + -0.36157432198524475, + -2.2956392765045166, + -0.020235884934663773, + 0.25374069809913635, + 0.23445872962474823, + 0.9837883710861206, + 0.019179554656147957, + -2.2150073051452637, + 0.02453281171619892, + 0.01515278872102499, + 0.11208437383174896, + -2.5039801597595215, + -0.3171134293079376, + -0.0686328336596489, + 0.7423364520072937, + -0.09060867875814438, + 2.3995463848114014, + -0.9610512852668762, + 1.831926941871643, + 1.5193060636520386, + -1.5542447566986084, + 0.9558709859848022, + 0.9690955281257629, + 0.04609622061252594, + -0.10769475251436234, + -0.11746398359537125, + -0.050113387405872345, + -0.06978099048137665, + -1.0273784399032593, + 0.12156488746404648, + 2.523613214492798, + 1.9652788639068604, + 1.8964390754699707, + -1.3841028213500977, + 1.5590707063674927, + -0.9584358334541321, + -0.9712133407592773, + -0.1826982945203781, + 0.08000596612691879, + 0.0818018838763237, + 0.03333243355154991, + 0.08844511955976486, + 0.03909463435411453, + -0.0020254473201930523, + 0.3669467270374298, + 0.8385100364685059, + -0.016125880181789398, + 0.054703421890735626, + -0.41709983348846436, + 0.00392829068005085, + 0.00045848003355786204, + -0.009230023249983788, + 0.03995200991630554, + -0.025031527504324913, + -0.05424543470144272, + 0.06451783329248428, + -0.032721634954214096, + -0.17672590911388397, + 0.047239143401384354, + -0.007737244013696909, + 0.0070444741286337376, + 0.06683658063411713, + -0.0391998291015625, + -0.1848878562450409, + 0.06604130566120148, + 0.04000888392329216, + -0.04563077911734581, + -0.06146590784192085, + 0.005553993862122297, + 0.003672658698633313, + 0.004579359199851751, + 0.01721019111573696, + 0.009838767349720001, + -0.0411921963095665, + 0.05534300580620766, + 0.021276449784636497, + -0.017730142921209335, + 0.01852448470890522, + 0.026192817836999893, + 0.017280517145991325, + -0.020997602492570877, + -0.011225354857742786, + -0.013926774263381958, + -0.04107198119163513, + -0.013462104834616184, + -0.03042677603662014, + 0.05716199427843094, + 0.1439625322818756, + 0.036779891699552536, + -0.02483469247817993, + 0.04702555388212204, + -0.053644128143787384, + -0.04921655356884003, + -0.008309480734169483, + 0.01952100731432438, + 0.04048770293593407, + 0.018233107402920723, + 0.019435837864875793, + 0.0031018215231597424, + -0.0024947302881628275, + -0.00115527817979455, + -0.0010873962892219424, + 0.016630934551358223, + -0.10641032457351685, + 0.22848373651504517, + -0.8768635392189026, + -0.8304542899131775, + -0.9615831971168518, + 0.670092761516571, + 0.9886237382888794, + 0.12885665893554688, + 0.5178567171096802, + -0.8841050267219543, + -0.9407947659492493, + 0.21028102934360504, + 0.8530989289283752, + -0.9250379800796509, + -0.6095163822174072, + -0.9497316479682922, + 0.40414535999298096, + -0.9537464380264282, + 0.9410228729248047, + -0.9798156023025513, + 0.9365619421005249, + 0.9648406505584717, + -0.9663228392601013, + -0.3515448272228241, + 0.9753411412239075, + 0.9784616827964783, + 0.9814562797546387, + 0.9856275916099548, + -0.8747818470001221, + 0.9767156839370728, + 0.933849036693573, + 0.9374470710754395, + -0.9782372117042542, + 0.902039647102356, + 0.9001173377037048, + 0.9564682245254517, + 0.9555589556694031, + -0.9748904705047607, + -0.9779942035675049, + 0.8307808041572571, + -0.983437180519104, + -0.9420256614685059, + -0.9381495714187622, + -0.941119909286499, + 0.0023598656989634037, + -0.0006919423467479646, + -0.005112492013722658, + -0.0024081734009087086, + 0.0010813764529302716, + 0.00024064548779278994, + 0.000810829340480268, + -0.0005454471101984382, + -0.004711040761321783, + -0.002072703093290329, + 0.0010424338979646564, + 0.0005085889715701342, + -0.0023964685387909412, + -0.0008362433291040361, + -0.000606008165050298, + -0.0006688470020890236, + -0.0009728798759169877, + 0.00048423290718346834, + -0.0006415388197638094, + 0.0017771177226677537, + 0.00025553774321451783, + -0.00023540231632068753, + 0.0015673300949856639, + 0.002228525932878256, + 0.0014416706981137395, + 0.003562557976692915, + 0.0007267582695931196, + 4.854144572163932e-05, + 0.0022943762596696615, + 0.010386521928012371, + 0.002200278453528881, + 0.002316048601642251, + -0.003583162324503064, + -0.0007797399302944541, + -0.002008962444961071, + -0.0043142870999872684, + -0.01754925772547722, + -0.004589166026562452, + -0.00024148709781002253, + 0.003161373781040311, + 0.0026675332337617874, + 0.0019355244003236294, + 0.0044266218319535255 + ], + "std": [ + 0.042112722992897034, + 0.04505845904350281, + 0.019536972045898438, + 0.07037361711263657, + 0.05006727576255798, + 0.06939660757780075, + 0.15914051234722137, + 0.24234844744205475, + 0.09416885673999786, + 0.4407274127006531, + 0.10750807076692581, + 0.2626357674598694, + 0.054102811962366104, + 0.1717834770679474, + 0.13306479156017303, + 0.31821396946907043, + 0.16464810073375702, + 0.21407298743724823, + 0.11660125851631165, + 0.2629775404930115, + 0.1486019492149353, + 0.1976539045572281, + 0.5837306976318359, + 0.2469710409641266, + 0.530748188495636, + 0.2427956759929657, + 0.403916597366333, + 0.26059386134147644, + 0.22713233530521393, + 0.265508770942688, + 0.21963919699192047, + 0.0628613755106926, + 0.0950002521276474, + 0.09448856860399246, + 0.07075409591197968, + 0.09169046580791473, + 0.5220157504081726, + 0.07202603667974472, + 0.3999297320842743, + 0.20574519038200378, + 0.19621407985687256, + 0.4773261845111847, + 0.2585694491863251, + 0.14672568440437317, + 0.13609391450881958, + 0.1633865088224411, + 0.09336462616920471, + 0.13303150236606598, + 0.05337560549378395, + 0.059572525322437286, + 0.02921689674258232, + 0.037889618426561356, + 0.008081012405455112, + 0.1846792846918106, + 0.07211615145206451, + 0.06876874715089798, + 0.2750396430492401, + 0.18587853014469147, + 0.17891716957092285, + 0.18672071397304535, + 1.555896282196045, + 5.3200483322143555, + 2.9803826808929443, + 7.118279933929443, + 2.486052989959717, + 4.213277339935303, + 2.543344736099243, + 2.710487127304077, + 0.8883762955665588, + 6.316850662231445, + 3.336742639541626, + 4.776673793792725, + 2.6288328170776367, + 3.3566219806671143, + 1.661218523979187, + 3.915306568145752, + 4.724218368530273, + 4.932797908782959, + 2.136909008026123, + 1.6207040548324585, + 3.136301040649414, + 1.8850123882293701, + 2.979745626449585, + 1.7939871549606323, + 2.02539324760437, + 0.7491763234138489, + 0.7111855149269104, + 0.29316428303718567, + 0.41018393635749817, + 0.3058367967605591, + 0.293786883354187, + 0.44259271025657654, + 2.1374950408935547, + 0.9072792530059814, + 3.2727808952331543, + 2.3367841243743896, + 1.8729904890060425, + 2.61806058883667, + 2.2839386463165283, + 0.6254268884658813, + 0.55152428150177, + 0.46350836753845215, + 0.37798768281936646, + 0.4729953408241272, + 0.34176337718963623, + 0.3214370310306549, + 0.034481629729270935, + 0.03000626154243946, + 0.04121607914566994, + 0.46426302194595337, + 1.1549947261810303, + 0.20645256340503693, + 0.38286176323890686, + 0.21024583280086517, + 0.20109017193317413, + 0.11110064387321472, + 0.4993017911911011, + 0.12664839625358582, + 0.3112102746963501, + 0.45958274602890015, + 0.16487054526805878, + 0.1420261263847351, + 0.6352242827415466, + 0.3210887908935547, + 0.20551876723766327, + 0.4381053149700165, + 0.2540793716907501, + 0.4756494462490082, + 0.26818791031837463, + 0.2554219961166382, + 0.17210182547569275, + 0.2409321665763855, + 0.20948675274848938, + 0.19888614118099213, + 0.6238135099411011, + 0.13524000346660614, + 0.1719372719526291, + 0.14497122168540955, + 0.1304759383201599, + 0.35568591952323914, + 0.16346675157546997, + 0.3173375725746155, + 0.301760196685791, + 0.1277649998664856, + 0.23771989345550537, + 0.2279687523841858, + 0.1627088338136673, + 0.19090504944324493, + 0.1758655607700348, + 0.17635686695575714, + 0.3079434037208557, + 0.1469896137714386, + 0.15143197774887085, + 0.2174496352672577, + 0.24153263866901398, + 2.5400702953338623, + 0.7784927487373352, + 0.8014529943466187, + 0.49186092615127563, + 0.4644414186477661, + 0.032917048782110214, + 1.672908067703247, + 1.714320182800293, + 0.8200381398200989, + 0.6402446031570435, + 0.7721521258354187, + 0.12834757566452026, + 1.0096720457077026, + 0.4962703287601471, + 0.186701238155365, + 2.2119836807250977, + 0.4018729329109192, + 0.671302855014801, + 0.18353480100631714, + 0.47255533933639526, + 0.47546252608299255, + 0.5766538977622986, + 3.2763562202453613, + 0.3428060710430145, + 0.31066659092903137, + 0.2688332200050354, + 0.2205354869365692, + 0.8406859040260315, + 0.5111684203147888, + 3.486008644104004, + 0.5192767977714539, + 0.3546893298625946, + 0.8580999970436096, + 1.084633231163025, + 0.550735592842102, + 0.37371575832366943, + 2.1564550399780273, + 0.438833624124527, + 1.229128122329712, + 0.2862628102302551, + 0.456217497587204, + 0.4220508337020874, + 0.5346795320510864 + ], + "min": [ + -0.7738266587257385, + -0.7785519957542419, + 0.8047138452529907, + 0.362972617149353, + -0.39202219247817993, + -0.4537297189235687, + -0.6713520288467407, + -2.588404893875122, + -0.6120349764823914, + -2.8275368213653564, + -0.15372222661972046, + -0.951376736164093, + -0.2964325249195099, + -0.5498606562614441, + -1.340929388999939, + -2.8312742710113525, + -0.14424635469913483, + -0.9635779857635498, + -0.3421826958656311, + -2.713390350341797, + -0.8166407942771912, + -0.7465353012084961, + -2.435533046722412, + -0.34453630447387695, + -2.7231476306915283, + -1.1035892963409424, + -2.030799627304077, + -1.7918709516525269, + -1.6800199747085571, + -1.0816969871520996, + -0.7855164408683777, + -0.0179448239505291, + -1.310250997543335, + -0.6712160706520081, + -1.6470437049865723, + -1.6693241596221924, + -3.1658830642700195, + -2.3178460597991943, + -2.742156744003296, + -0.35477113723754883, + -2.047354221343994, + -1.6716742515563965, + -1.7795490026474, + -1.0988768339157104, + -1.0807112455368042, + -1.359919548034668, + -0.08745958656072617, + -0.10996361821889877, + -0.06902205944061279, + -0.03577714413404465, + -0.10725100338459015, + -0.16500449180603027, + 0.23212723433971405, + -0.15850719809532166, + -0.3389427661895752, + -0.48557326197624207, + -0.9999662041664124, + -2.193283796310425, + -2.005195140838623, + -2.9684982299804688, + -14.704641342163086, + -35.7442741394043, + -27.823253631591797, + -42.56782913208008, + -17.66596794128418, + -28.55613136291504, + -18.625905990600586, + -16.490507125854492, + -10.852964401245117, + -42.668060302734375, + -25.953622817993164, + -35.95486068725586, + -15.408480644226074, + -18.612506866455078, + -15.283103942871094, + -26.06655502319336, + -42.76798629760742, + -36.13262176513672, + -44.69192123413086, + -33.59485626220703, + -50.01041030883789, + -23.964738845825195, + -40.4901237487793, + -40.53788757324219, + -34.724002838134766, + -11.396271705627441, + -7.337916851043701, + -15.102253913879395, + -7.832427024841309, + -6.652492046356201, + -14.993180274963379, + -7.22700834274292, + -28.398658752441406, + -29.543663024902344, + -54.26047134399414, + -26.262248992919922, + -42.363643646240234, + -29.495105743408203, + -32.66628646850586, + -13.511029243469238, + -6.207447528839111, + -7.135590076446533, + -13.95861530303955, + -15.821308135986328, + -9.488734245300293, + -4.1378703117370605, + -0.5477244257926941, + -0.4000769257545471, + -1.1597175598144531, + -3.9295666217803955, + -10.370935440063477, + -2.286783218383789, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999978542327881, + -0.9999985694885254, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -1.0, + -0.9995517134666443, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0114316940307617, + -0.9999999403953552, + -0.9990360736846924, + -0.999999463558197, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999744296073914, + -1.0126216411590576, + -1.0111839771270752, + -1.0120774507522583, + -1.0110723972320557, + -8.430097579956055, + -5.3019328117370605, + -7.265376091003418, + -7.152298927307129, + -2.3262784481048584, + -0.8691455125808716, + -8.419623374938965, + -5.453756332397461, + -8.519572257995605, + -7.417658805847168, + -2.3270232677459717, + -0.8725661039352417, + -8.12804889678955, + -1.7331101894378662, + -1.7331427335739136, + -7.758448123931885, + -5.18779182434082, + -7.035597801208496, + -4.171591281890869, + -5.295297145843506, + -7.329815864562988, + -7.226667404174805, + -7.7832183837890625, + -5.068985462188721, + -6.892783164978027, + -4.231439590454102, + -5.301170825958252, + -7.298786640167236, + -7.309111595153809, + -33.23622131347656, + -7.354803562164307, + -7.201472282409668, + -6.52398157119751, + -7.268587112426758, + -6.479650497436523, + -7.1601948738098145, + -33.16163635253906, + -7.369842529296875, + -7.256917953491211, + -6.44058895111084, + -7.232071399688721, + -6.4535651206970215, + -7.268499851226807 + ], + "max": [ + 0.7968977093696594, + 0.870449423789978, + 1.229228138923645, + 1.0098098516464233, + 0.6281046271324158, + 0.39047771692276, + 0.923689067363739, + 1.836792230606079, + 2.0094845294952393, + 0.5146425366401672, + 1.4299334287643433, + 0.5824787020683289, + 0.3080555200576782, + 1.6928329467773438, + 0.5641255974769592, + 0.574910044670105, + 1.4619487524032593, + 0.6180336475372314, + 0.34059756994247437, + 2.4387600421905518, + 0.7753986716270447, + 0.7548295855522156, + 2.7448768615722656, + 2.3413729667663574, + 2.7124242782592773, + 2.1763126850128174, + 2.0307083129882812, + 1.6608844995498657, + 1.6788032054901123, + 1.073332667350769, + 1.119672179222107, + 1.679815649986267, + 0.011416724883019924, + 0.009885883890092373, + 0.02091214619576931, + 0.039391230791807175, + 2.727888345718384, + 0.26414886116981506, + 2.6918773651123047, + 2.2842133045196533, + 2.0473055839538574, + 1.5992213487625122, + 1.6813691854476929, + 0.8559478521347046, + 0.7673411965370178, + 0.03894615173339844, + 1.5175704956054688, + 1.6913440227508545, + 1.3367129564285278, + 1.5084949731826782, + 0.20506694912910461, + 0.13876301050186157, + 0.44932129979133606, + 1.0099109411239624, + 0.4113212823867798, + 0.5044006109237671, + 0.3132859766483307, + 2.2153871059417725, + 2.56866455078125, + 1.0874477624893188, + 14.026494979858398, + 35.87355422973633, + 17.435447692871094, + 58.214996337890625, + 29.348100662231445, + 57.18246841430664, + 33.059749603271484, + 18.34288787841797, + 7.586318016052246, + 34.77031707763672, + 19.13775062561035, + 67.23902130126953, + 32.8304557800293, + 21.35066032409668, + 10.259953498840332, + 45.49869155883789, + 44.741912841796875, + 34.25974655151367, + 24.135086059570312, + 39.48954391479492, + 32.37991714477539, + 37.02838897705078, + 39.16765594482422, + 23.350276947021484, + 34.67495346069336, + 10.13438606262207, + 17.02427101135254, + 7.182557106018066, + 7.1651740074157715, + 4.514240741729736, + 4.544272422790527, + 7.851586818695068, + 48.17836380004883, + 31.60976219177246, + 42.078590393066406, + 33.623600006103516, + 37.444969177246094, + 29.93386459350586, + 29.09025764465332, + 8.599141120910645, + 7.06635046005249, + 4.504329204559326, + 10.100205421447754, + 8.537747383117676, + 11.322017669677734, + 7.311582088470459, + 0.6016557216644287, + 0.46527227759361267, + 0.5248227715492249, + 2.5876312255859375, + 10.419828414916992, + 2.212495803833008, + 0.9999999403953552, + 0.9999999403953552, + 0.7197454571723938, + 0.9845423102378845, + 1.0, + 0.9999999403953552, + 0.9999979734420776, + 1.0, + 0.9772722721099854, + 0.9999998807907104, + 1.0, + 0.9999999403953552, + 0.9999749660491943, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999960064888, + 1.012157678604126, + 1.0113283395767212, + 1.012593150138855, + 1.0112453699111938, + 0.9999973773956299, + 1.0, + 1.0114580392837524, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 8.45361614227295, + 5.409843444824219, + 7.038282871246338, + 7.3173346519470215, + 2.3257243633270264, + 0.8667038679122925, + 8.44979190826416, + 5.451396465301514, + 8.519572257995605, + 7.417666912078857, + 2.3254573345184326, + 0.8726640343666077, + 8.152491569519043, + 1.7332524061203003, + 1.7332826852798462, + 7.769432544708252, + 5.186692237854004, + 7.037702560424805, + 4.192294597625732, + 5.315018177032471, + 7.3286871910095215, + 7.305862903594971, + 7.78147554397583, + 5.187367916107178, + 6.911520481109619, + 4.21911096572876, + 5.290048599243164, + 7.284864902496338, + 7.319306373596191, + 33.33893585205078, + 7.366163730621338, + 7.271250247955322, + 6.540618419647217, + 7.163774013519287, + 6.516909599304199, + 7.196773529052734, + 33.23482894897461, + 7.359347820281982, + 7.252593517303467, + 6.366456985473633, + 7.220841884613037, + 6.449306488037109, + 7.263980865478516 + ], + "q01": [ + -0.1059706213325262, + -0.07322555936872958, + 1.1191173350811006, + 0.679385877251625, + -0.05206550966948271, + -0.35795281201601026, + -0.08105819717049596, + -0.25318225383758547, + -0.5263099247217178, + -2.7669665670394896, + -0.11667746432125568, + -0.7876168000698089, + -0.0008873671980109036, + 0.33318756997585297, + -0.4220974364876747, + -2.662647726535797, + -0.11147875376045704, + -0.5916734951734542, + -0.20154005140066147, + -2.642390201091766, + -0.5618392062187195, + -0.5271266180276871, + -0.43109364449977877, + -0.16410637736320496, + -0.00411854862235486, + -1.0625595700740815, + -0.09667239397764205, + 0.05577524997293949, + -1.6242454898357392, + -0.7248384058475494, + -0.34849473297595973, + 0.00018596773967146876, + -0.43447673320770264, + -0.4286180371046066, + -0.3288959085941315, + -0.26685177862644194, + -2.30307772397995, + -0.0015493131114635616, + 0.5286150228977203, + 0.991684068441391, + 1.1977828991413118, + -1.5713980436325072, + -0.007980468249879758, + -1.0198148810863494, + -1.0295359873771668, + -0.7010014879703522, + 1.1075910788349652e-05, + 3.796641805820402e-05, + -0.002652675125282258, + -0.0010495421348605304, + -0.014294282812625169, + -0.11820460259914398, + 0.34134758174419405, + 0.20981739565730095, + -0.1971270127594471, + -0.13211995631456375, + -0.96634621322155, + -0.5830292177200317, + -0.5944135797023773, + -0.5089943653345108, + -4.85288281917572, + -14.490709724426269, + -10.098205661773681, + -21.738415946960448, + -5.759124341011047, + -11.309423122406006, + -6.130308876037597, + -8.635315618515014, + -3.492782576084137, + -19.632789764404297, + -9.502745084762573, + -13.089497938156128, + -6.5785646152496335, + -9.744095964431763, + -5.848969163894653, + -11.457807102203368, + -14.555512323379515, + -12.21583477973938, + -6.847887320518494, + -4.45504744529724, + -11.898847789764405, + -6.687501616477967, + -11.476853771209717, + -5.3720994520187375, + -5.606906313896179, + -2.9537126946449277, + -2.2314684891700742, + -0.1491223007440567, + -1.4774546134471893, + -1.3940702176094055, + -0.9739846348762512, + -1.291306787729263, + -5.549564499855041, + -2.6417897081375123, + -5.568620076179504, + -5.234816064834595, + -3.056585736274719, + -9.270711669921875, + -6.528039121627807, + -3.5535058283805845, + -2.921538321971893, + -1.7942139887809754, + -0.5378423488140106, + -0.5881971716880798, + -0.31669264793395996, + -0.3238345617055893, + -0.09781760431826114, + -0.08309621661901474, + -0.11961487255990505, + -1.2058235335350036, + -3.209835648536682, + -0.6531460767984391, + -0.8885819673538208, + -1.0, + -1.0, + -0.9999999403953552, + -0.999003005027771, + 0.855252537727356, + -0.8852700787782669, + -0.9166188633441925, + -1.0, + -1.0, + -0.9978427135944367, + -0.6654279839992523, + -0.9999999403953552, + -0.9999729990959167, + -0.9999999403953552, + -0.9446608954668045, + -1.0, + -0.8733636730909348, + -1.0, + -0.5451807975769043, + -0.40755178332328795, + -0.9999997615814209, + -0.99991450548172, + 0.3189322656393051, + 0.2106913384795189, + 0.5466383516788483, + 0.7209190905094147, + -0.999997615814209, + 0.12745489791035658, + -0.9957364398241043, + -0.9848149216175079, + -0.9999992251396179, + -0.3119019436836242, + -0.2659728002548218, + 0.1642169997096062, + 0.0744642719626427, + -0.9999995231628418, + -0.9999999403953552, + -0.4796603178977966, + -0.9999997615814209, + -0.9999998807907104, + -0.9999967813491821, + -0.9999895095825195, + -5.832029194831848, + -2.636004958152771, + -2.583317222595215, + -1.54387482047081, + -1.597993677854538, + -0.00614931474905461, + -4.833893523216248, + -4.617929921150208, + -2.792983295917511, + -2.179419994354248, + -2.006844639778137, + -0.48490141987800595, + -3.8291208148002625, + -1.448185453414917, + -0.7589150667190552, + -5.719259076118469, + -0.9310647708177566, + -2.264724147319794, + -0.13117926448583603, + -1.646157112121582, + -1.1265769875049592, + -1.6594666540622711, + -7.088815479278565, + -0.7691190069913864, + -0.2737095314264297, + -0.32931179583072656, + -0.15996514678001403, + -3.3343448400497437, + -0.9833947724103927, + -12.1713152885437, + -1.241129493713379, + -0.6350447344779968, + -3.2221831035614015, + -4.0617134523391725, + -1.7525894010066985, + -1.0127829885482789, + -3.0726055645942685, + -0.5974031031131745, + -4.287043795585633, + -0.2522341841459274, + -1.2900772082805634, + -1.2486091482639312, + -1.4184790468215942 + ], + "q99": [ + 0.06062360130250495, + 0.08243259660899654, + 1.1935316359996797, + 0.9728069055080414, + 0.20790142372250559, + 0.007750333189033274, + 0.6821181941032416, + 0.9513507276773456, + -0.09067748270928817, + -0.902319039702413, + 0.49768854349851616, + 0.5371600770950318, + 0.27154604882001876, + 1.289898544549942, + 0.2552683055400851, + -1.1463078105449664, + 0.6094013017416001, + 0.4218133381009103, + 0.28174529552459715, + -1.3726214444637286, + 0.1816208744049085, + 0.4598455840349198, + 2.5422073483467105, + 1.645369020700457, + 2.6346838092803955, + 0.33028176426887634, + 1.9819732010364532, + 1.5883679223060607, + -0.2294815745949706, + 1.0474071991443634, + 1.0392625606060029, + 0.18259331449866378, + 0.0008039873669622509, + 0.0001011923354235485, + 0.0008182003005640603, + 8.414156654907873e-05, + 0.6845527529716505, + 0.1803370334208012, + 2.6385832738876345, + 2.1060218954086305, + 1.9819671821594238, + 1.1616523754596713, + 1.62172682762146, + -0.0006095676322000919, + -0.126132032126186, + 2.802880368108393e-05, + 0.3549252647161509, + 0.6623439753055622, + 0.17717068240046605, + 0.221679810881615, + 0.10683171056210995, + 0.06169814217835665, + 0.38602128446102146, + 0.9971175634860993, + 0.14167719855904579, + 0.21745531603693982, + 0.007019931268878344, + 0.5782898801565174, + 0.4393210509419453, + 0.41138115823268906, + 4.255398073196416, + 16.494801807403615, + 7.70051992416383, + 18.55417514801027, + 8.236512117385864, + 13.96522568702701, + 5.942360367774975, + 8.234539861679078, + 2.2543523359298714, + 17.453549938201927, + 7.982983231544497, + 15.898130187988322, + 9.402296295166098, + 8.949505929946904, + 4.226198358535778, + 14.962960710525527, + 14.57084172248843, + 14.625373058319099, + 6.013969349861195, + 5.4794220590591625, + 10.347935905456579, + 5.26764120578766, + 10.179061422348079, + 6.238092122077947, + 7.020430264473043, + 3.1866604971885755, + 3.770074193477631, + 0.6054882127046602, + 0.7263608664274216, + 0.700611503124239, + 0.5491872864961627, + 0.17242057025432647, + 6.290011057853717, + 2.4562095761299263, + 9.65687702178966, + 8.304952526092602, + 4.307369556427036, + 9.409512376785333, + 7.49382076740267, + 1.5907363700866715, + 0.9445658874511791, + 1.2241237854957618, + 1.1719621944427543, + 2.122948689460761, + 0.6521690672636252, + 0.7865366864204432, + 0.10589396975934529, + 0.07110530525445945, + 0.11455559574067627, + 1.3001963698863999, + 3.2042417454719585, + 0.45288409471511976, + 0.9778823554515844, + 0.02993349624797761, + -0.15149244070053006, + -0.49051137149333907, + 0.999252438545227, + 0.9999999403953552, + 0.8634047335386278, + 0.999685640335083, + -0.22685929387807843, + -0.309104263186454, + 0.9996544575691223, + 0.9999979138374329, + 0.17652750805020384, + 0.895593707561493, + 0.7706910198927008, + 0.9999987727403641, + 0.9567055803537396, + 0.9999889135360718, + -0.11376315921544367, + 1.0, + 0.9999977350234985, + 0.2212583427131348, + 0.991390958428383, + 0.9999985694885254, + 0.9999992847442627, + 0.9999999403953552, + 0.9999999403953552, + 0.9753171360492712, + 0.9999999403953552, + 0.999998927116394, + 0.9999995827674866, + -0.6165595281124076, + 0.9999999403953552, + 0.9999995827674866, + 0.9999920970201492, + 1.0, + -0.006899203760548317, + 0.04293421719223389, + 1.0, + -0.663221374154088, + -0.41522841155528817, + 0.41796202242378455, + 0.8624063724279446, + 6.242812004089371, + 2.5792232155799892, + 2.499589638710028, + 1.4799019134044702, + 1.6613757395744342, + 0.007180696725845662, + 4.894673504829424, + 4.317032833099375, + 2.58889780044556, + 2.118543298244477, + 2.080801265239716, + 0.4989215606451085, + 3.8988842678070297, + 1.4071551191806797, + 0.7434257751703283, + 5.7984748744964625, + 0.8670989370346114, + 2.377220633029938, + 0.11470026701688836, + 1.6907682049274477, + 1.1749551296234138, + 1.5018732464313589, + 7.14444738864899, + 0.8800609093904603, + 0.43633753895759897, + 0.38164688259363233, + 0.19386876940727432, + 3.3682362174987914, + 0.9230010265111935, + 12.487460165023816, + 1.2488960933685336, + 0.70224486768247, + 3.3042692732811036, + 4.253281240463258, + 1.7415197122097044, + 0.9388186782598515, + 3.311010940074972, + 0.36234861612319996, + 4.587373909950258, + 0.34277729898691195, + 1.280624896287921, + 1.261455546617513, + 1.557088985443117 + ] + }, + "action": { + "mean": [ + 0.7959898114204407, + 0.5228977203369141, + -2.428175687789917, + -0.309074729681015, + -0.3195468783378601, + -0.3192320466041565, + -2.301455020904541, + -2.4476866722106934, + -0.49558278918266296, + -0.03346357122063637, + -0.001685187453404069, + 0.9667679667472839, + -1.215242624282837, + 0.29551252722740173, + -0.028569087386131287, + -1.493161678314209, + 1.5362062454223633, + 0.2613345980644226, + 0.22364990413188934, + 2.4765260219573975, + 2.571157693862915, + -1.0225200653076172, + 2.0846688747406006, + 1.8540877103805542, + 1.9538458585739136, + 1.5714976787567139, + -1.4205882549285889, + -1.5688798427581787, + 1.5897024869918823, + 0.9853185415267944, + 1.0003451108932495, + 0.019797036424279213, + -0.07822708040475845, + -0.08779439330101013, + -0.034845586866140366, + -0.040097977966070175, + -1.0305582284927368, + -1.036097764968872, + -0.1483394056558609, + 0.013913169503211975, + 0.051525287330150604, + 0.04930776730179787, + 0.05270596966147423 + ], + "std": [ + 1.036950945854187, + 0.8438392877578735, + 0.5369921326637268, + 0.36739104986190796, + 0.8026944398880005, + 0.2249668687582016, + 0.5365131497383118, + 0.4322963356971741, + 0.1239250972867012, + 0.1464221030473709, + 0.2070380002260208, + 1.3576101064682007, + 1.8005298376083374, + 0.3465573191642761, + 0.44369906187057495, + 0.5179025530815125, + 0.2563841640949249, + 0.031248977407813072, + 0.08341854065656662, + 0.6562410593032837, + 0.4500460922718048, + 0.2731800675392151, + 0.16071636974811554, + 0.47569018602371216, + 0.2599450349807739, + 0.30979466438293457, + 0.5674522519111633, + 0.3182012140750885, + 0.23104844987392426, + 0.3276488482952118, + 0.2557191252708435, + 0.11622904241085052, + 0.19037115573883057, + 0.19998082518577576, + 0.12996840476989746, + 0.17227692902088165, + 0.1557493358850479, + 0.1528785675764084, + 0.2692328095436096, + 0.12015359103679657, + 0.13619183003902435, + 0.17271041870117188, + 0.21480974555015564 + ], + "min": [ + -2.5306999683380127, + -2.5306942462921143, + -2.618000030517578, + -0.5235999822616577, + -2.967097520828247, + -0.5199999809265137, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726699650287628, + -0.08726699650287628, + -3.089200019836426, + -3.089200019836426, + -0.8726699948310852, + -0.8726699948310852, + -1.5881999731063843, + -2.251499891281128, + -0.26179999113082886, + -0.26179999113082886, + -2.618000030517578, + -2.618000030517578, + -1.0471999645233154, + -1.046495795249939, + -1.9722199440002441, + -1.9722199440002441, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.0471999645233154, + -0.7243120074272156, + 0.0, + -1.5707999467849731, + -1.7444888353347778, + -1.5707999467849731, + -1.7453299760818481, + -1.0471999645233154, + -1.0471999645233154, + -1.7453076839447021, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 2.8797998428344727, + 2.8797945976257324, + 2.6179988384246826, + 2.967099905014038, + 0.5235999822616577, + 0.5199999809265137, + 2.0013227462768555, + 2.7323453426361084, + 0.5199999809265137, + 2.856868028640747, + 2.8797998428344727, + 2.6703999042510986, + 2.6703999042510986, + 0.5235999822616577, + 0.5235999822616577, + 2.251499891281128, + 1.5881999731063843, + 0.26179999113082886, + 0.26179999113082886, + 2.618000030517578, + 2.618000030517578, + 2.094399929046631, + 2.094399929046631, + 1.9722199440002441, + 1.9722199440002441, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.0471999645233154, + 1.0471999645233154, + 1.7453278303146362, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0471972227096558, + 0.7243120074272156, + 0.0, + 1.5707999467849731, + 1.7453299760818481, + 1.5707999467849731, + 1.7453299760818481 + ], + "q01": [ + -2.2431318759918213, + -2.2275888919830322, + -2.617999792098999, + -0.5235999822616577, + -2.8240888118743896, + -0.5199874639511108, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726691454648972, + -0.08726699650287628, + -2.8740804195404053, + -3.088956356048584, + -0.872017502784729, + -0.8712095618247986, + -1.5881999731063843, + 0.41434648633003235, + 0.2482401728630066, + -0.17439915239810944, + -2.3763270378112793, + 0.9237087565660478, + -1.0471999645233154, + 1.7061247825622559, + -1.1415928602218628, + 1.6603350639343262, + -0.11876842208206616, + -1.6144261360168457, + -1.6144295930862427, + 0.7907993793487549, + -1.0434150695800781, + -0.7000811100006104, + 7.802233312759199e-07, + -1.0570257902145386, + -1.1111327409744263, + -0.6695869565010071, + -0.8968654870986938, + -1.0471994876861572, + -1.0471999645233154, + -1.2922288179397583, + 5.149483399691235e-07, + 1.5604466341301304e-07, + 5.196297024667729e-06, + 1.0485681459613269e-05 + ], + "q99": [ + 2.8219339847564697, + 2.5108838081359863, + 0.5297284722328186, + 1.277254581451416, + 0.5230817198753357, + 0.4597421884536743, + -0.6499962866306066, + -0.7897148728370667, + 0.33223775029182434, + 0.5924091339111328, + 0.9083260297775269, + 2.6703968048095703, + 2.650707960128784, + 0.5230619561672212, + 0.5233774781227112, + 2.182425022125244, + 1.5881974697113037, + 0.26179999113082886, + 0.26179957389831543, + 2.617971181869507, + 2.6179981231689453, + 0.060908686369657516, + 2.094399929046631, + 1.9722199440002441, + 1.9722198247909546, + 1.6144264936447144, + 1.5651469230651855, + 0.34221699833869934, + 1.6144299507141113, + 1.0471988916397095, + 1.0471996068954468, + 0.3539747893810272, + -1.404404628146949e-07, + -8.842530974106921e-07, + -7.1156500780489296e-06, + -5.201488662009979e-08, + -0.3846815228462219, + -0.35126546025276184, + 0.0, + 0.3073590099811554, + 0.5300325751304626, + 1.1608226299285889, + 1.6748021841049194 + ] + } + }, + "label_provenance": { + "semantics": "expert_closed_loop_compacted_applied_actions_v3", + "condition": "zero-latency", + "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth", + "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml", + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + } + }, + "prompt": "Keep the G1 humanoid balanced on the support board.", + "state_labels": [ + "state_0", + "state_1", + "state_2", + "state_3", + "state_4", + "state_5", + "state_6", + "state_7", + "state_8", + "state_9", + "state_10", + "state_11", + "state_12", + "state_13", + "state_14", + "state_15", + "state_16", + "state_17", + "state_18", + "state_19", + "state_20", + "state_21", + "state_22", + "state_23", + "state_24", + "state_25", + "state_26", + "state_27", + "state_28", + "state_29", + "state_30", + "state_31", + "state_32", + "state_33", + "state_34", + "state_35", + "state_36", + "state_37", + "state_38", + "state_39", + "state_40", + "state_41", + "state_42", + "state_43", + "state_44", + "state_45", + "state_46", + "state_47", + "state_48", + "state_49", + "state_50", + "state_51", + "state_52", + "state_53", + "state_54", + "state_55", + "state_56", + "state_57", + "state_58", + "state_59", + "state_60", + "state_61", + "state_62", + "state_63", + "state_64", + "state_65", + "state_66", + "state_67", + "state_68", + "state_69", + "state_70", + "state_71", + "state_72", + "state_73", + "state_74", + "state_75", + "state_76", + "state_77", + "state_78", + "state_79", + "state_80", + "state_81", + "state_82", + "state_83", + "state_84", + "state_85", + "state_86", + "state_87", + "state_88", + "state_89", + "state_90", + "state_91", + "state_92", + "state_93", + "state_94", + "state_95", + "state_96", + "state_97", + "state_98", + "state_99", + "state_100", + "state_101", + "state_102", + "state_103", + "state_104", + "state_105", + "state_106", + "state_107", + "state_108", + "state_109", + "state_110", + "state_111", + "state_112", + "state_113", + "state_114", + "state_115", + "state_116", + "state_117", + "state_118", + "state_119", + "state_120", + "state_121", + "state_122", + "state_123", + "state_124", + "state_125", + "state_126", + "state_127", + "state_128", + "state_129", + "state_130", + "state_131", + "state_132", + "state_133", + "state_134", + "state_135", + "state_136", + "state_137", + "state_138", + "state_139", + "state_140", + "state_141", + "state_142", + "state_143", + "state_144", + "state_145", + "state_146", + "state_147", + "state_148", + "state_149", + "state_150", + "state_151", + "state_152", + "state_153", + "state_154", + "state_155", + "state_156", + "state_157", + "state_158", + "state_159", + "state_160", + "state_161", + "state_162", + "state_163", + "state_164", + "state_165", + "state_166", + "state_167", + "state_168", + "state_169", + "state_170", + "state_171", + "state_172", + "state_173", + "state_174", + "state_175", + "state_176", + "state_177", + "state_178", + "state_179", + "state_180", + "state_181", + "state_182", + "state_183", + "state_184", + "state_185", + "state_186", + "state_187", + "state_188", + "state_189", + "state_190", + "state_191", + "state_192", + "state_193", + "state_194", + "state_195", + "state_196", + "state_197" + ], + "action_labels": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ] +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000000.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..03a3032257d77ca2a60bde23c7d04030dc163cff --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcd8ca1679bb710f084460de1a22ff1840ff90fd46c8750458a37e62deaad6be +size 9506778 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000001.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bdf9f5c49e2d5ea03f57b1cbe01577c26fd936b5 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad03a4432ea1e0aed8db72279e782a8fd5e0db0439f7bd320b258bf675f3cfcb +size 14102245 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000002.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000002.parquet new file mode 100644 index 0000000000000000000000000000000000000000..678093faf21ea6be6ee6056a9ab155e5700cc29c --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000002.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52e8423c3d8c93fa639d812f329673f0cae57fef75beafaaaa90ebe8ddd00bde +size 9208617 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000003.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000003.parquet new file mode 100644 index 0000000000000000000000000000000000000000..47d89eca46653e3298a2212bafdf80e4df4ddbd5 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000003.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:599449e1fd847dc692b9386626de2f63d88b1bdb157f5c4a68e770722dc2d055 +size 3204842 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000004.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000004.parquet new file mode 100644 index 0000000000000000000000000000000000000000..25feff9e70ccec3c53c0c2d47c9fc41ee46d64cc --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000004.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b29a2ec3a32ad91ef74508a7a7f85c2c24c4034f79d9f74928fe0c7f7adc73e +size 7866108 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000005.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000005.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ebed7c9b965774eb55e84d8ea3b8da4d200442c1 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000005.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:223955e341e92d4158f4dcc409a29c8c2caac1fdfe6ec2a650e277ccea810aaf +size 11993001 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000006.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000006.parquet new file mode 100644 index 0000000000000000000000000000000000000000..42ddb433a0c38942f01250a7df788892bcc3aa03 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000006.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7450bc19d7a61f2382ea7c6bce4401e664468884f80fa415dce1cec796e9d8f8 +size 11203827 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000007.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000007.parquet new file mode 100644 index 0000000000000000000000000000000000000000..edb9cb848c3b4f229e605dd254be50abfaa58e87 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000007.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5909947e3032108fb59584c7118735388db4aa4b94e4a973584ea6a21892061f +size 16337493 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000008.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000008.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c4b8747c78f8828402f935b8d92e5de868408afd --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000008.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c20c3da17ab6529e0f547a00b4e32ada70aefa62520dc84869807cb3962ad3e +size 15475484 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000009.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000009.parquet new file mode 100644 index 0000000000000000000000000000000000000000..96ff49ae985c955b601b0a1cb96fa7b01633f9c7 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/data/chunk-000/episode_000009.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cbfdafab11b2afc59e1d7b683abe6bc7e6c19336f4a677208e133eb802e8842 +size 6017035 diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/manifest.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a321b111a6c22c37ea271cca9c2b832a226e3374 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/manifest.json @@ -0,0 +1,1761 @@ +{ + "format": "latency_bench_starvla_h8_v2", + "task": "humanoidbench_balance_simple", + "robot_type": "latency_balance_h8", + "state_dim": 198, + "action_dim": 43, + "action_horizon": 8, + "vla_fps": 50.0, + "task_contract": "task_contract.json", + "state_key": "observation.state", + "action_key": "issued_command_chunk", + "video_keys": [ + "video.ego_view" + ], + "normalization": { + "state": { + "mean": [ + -0.025635866448283195, + 0.01927330158650875, + 1.158280849456787, + 0.8420453071594238, + 0.09217120707035065, + -0.24410997331142426, + 0.43043604493141174, + 0.6107878684997559, + -0.36157432198524475, + -2.2956392765045166, + -0.020235884934663773, + 0.25374069809913635, + 0.23445872962474823, + 0.9837883710861206, + 0.019179554656147957, + -2.2150073051452637, + 0.02453281171619892, + 0.01515278872102499, + 0.11208437383174896, + -2.5039801597595215, + -0.3171134293079376, + -0.0686328336596489, + 0.7423364520072937, + -0.09060867875814438, + 2.3995463848114014, + -0.9610512852668762, + 1.831926941871643, + 1.5193060636520386, + -1.5542447566986084, + 0.9558709859848022, + 0.9690955281257629, + 0.04609622061252594, + -0.10769475251436234, + -0.11746398359537125, + -0.050113387405872345, + -0.06978099048137665, + -1.0273784399032593, + 0.12156488746404648, + 2.523613214492798, + 1.9652788639068604, + 1.8964390754699707, + -1.3841028213500977, + 1.5590707063674927, + -0.9584358334541321, + -0.9712133407592773, + -0.1826982945203781, + 0.08000596612691879, + 0.0818018838763237, + 0.03333243355154991, + 0.08844511955976486, + 0.03909463435411453, + -0.0020254473201930523, + 0.3669467270374298, + 0.8385100364685059, + -0.016125880181789398, + 0.054703421890735626, + -0.41709983348846436, + 0.00392829068005085, + 0.00045848003355786204, + -0.009230023249983788, + 0.03995200991630554, + -0.025031527504324913, + -0.05424543470144272, + 0.06451783329248428, + -0.032721634954214096, + -0.17672590911388397, + 0.047239143401384354, + -0.007737244013696909, + 0.0070444741286337376, + 0.06683658063411713, + -0.0391998291015625, + -0.1848878562450409, + 0.06604130566120148, + 0.04000888392329216, + -0.04563077911734581, + -0.06146590784192085, + 0.005553993862122297, + 0.003672658698633313, + 0.004579359199851751, + 0.01721019111573696, + 0.009838767349720001, + -0.0411921963095665, + 0.05534300580620766, + 0.021276449784636497, + -0.017730142921209335, + 0.01852448470890522, + 0.026192817836999893, + 0.017280517145991325, + -0.020997602492570877, + -0.011225354857742786, + -0.013926774263381958, + -0.04107198119163513, + -0.013462104834616184, + -0.03042677603662014, + 0.05716199427843094, + 0.1439625322818756, + 0.036779891699552536, + -0.02483469247817993, + 0.04702555388212204, + -0.053644128143787384, + -0.04921655356884003, + -0.008309480734169483, + 0.01952100731432438, + 0.04048770293593407, + 0.018233107402920723, + 0.019435837864875793, + 0.0031018215231597424, + -0.0024947302881628275, + -0.00115527817979455, + -0.0010873962892219424, + 0.016630934551358223, + -0.10641032457351685, + 0.22848373651504517, + -0.8768635392189026, + -0.8304542899131775, + -0.9615831971168518, + 0.670092761516571, + 0.9886237382888794, + 0.12885665893554688, + 0.5178567171096802, + -0.8841050267219543, + -0.9407947659492493, + 0.21028102934360504, + 0.8530989289283752, + -0.9250379800796509, + -0.6095163822174072, + -0.9497316479682922, + 0.40414535999298096, + -0.9537464380264282, + 0.9410228729248047, + -0.9798156023025513, + 0.9365619421005249, + 0.9648406505584717, + -0.9663228392601013, + -0.3515448272228241, + 0.9753411412239075, + 0.9784616827964783, + 0.9814562797546387, + 0.9856275916099548, + -0.8747818470001221, + 0.9767156839370728, + 0.933849036693573, + 0.9374470710754395, + -0.9782372117042542, + 0.902039647102356, + 0.9001173377037048, + 0.9564682245254517, + 0.9555589556694031, + -0.9748904705047607, + -0.9779942035675049, + 0.8307808041572571, + -0.983437180519104, + -0.9420256614685059, + -0.9381495714187622, + -0.941119909286499, + 0.0023598656989634037, + -0.0006919423467479646, + -0.005112492013722658, + -0.0024081734009087086, + 0.0010813764529302716, + 0.00024064548779278994, + 0.000810829340480268, + -0.0005454471101984382, + -0.004711040761321783, + -0.002072703093290329, + 0.0010424338979646564, + 0.0005085889715701342, + -0.0023964685387909412, + -0.0008362433291040361, + -0.000606008165050298, + -0.0006688470020890236, + -0.0009728798759169877, + 0.00048423290718346834, + -0.0006415388197638094, + 0.0017771177226677537, + 0.00025553774321451783, + -0.00023540231632068753, + 0.0015673300949856639, + 0.002228525932878256, + 0.0014416706981137395, + 0.003562557976692915, + 0.0007267582695931196, + 4.854144572163932e-05, + 0.0022943762596696615, + 0.010386521928012371, + 0.002200278453528881, + 0.002316048601642251, + -0.003583162324503064, + -0.0007797399302944541, + -0.002008962444961071, + -0.0043142870999872684, + -0.01754925772547722, + -0.004589166026562452, + -0.00024148709781002253, + 0.003161373781040311, + 0.0026675332337617874, + 0.0019355244003236294, + 0.0044266218319535255 + ], + "std": [ + 0.042112722992897034, + 0.04505845904350281, + 0.019536972045898438, + 0.07037361711263657, + 0.05006727576255798, + 0.06939660757780075, + 0.15914051234722137, + 0.24234844744205475, + 0.09416885673999786, + 0.4407274127006531, + 0.10750807076692581, + 0.2626357674598694, + 0.054102811962366104, + 0.1717834770679474, + 0.13306479156017303, + 0.31821396946907043, + 0.16464810073375702, + 0.21407298743724823, + 0.11660125851631165, + 0.2629775404930115, + 0.1486019492149353, + 0.1976539045572281, + 0.5837306976318359, + 0.2469710409641266, + 0.530748188495636, + 0.2427956759929657, + 0.403916597366333, + 0.26059386134147644, + 0.22713233530521393, + 0.265508770942688, + 0.21963919699192047, + 0.0628613755106926, + 0.0950002521276474, + 0.09448856860399246, + 0.07075409591197968, + 0.09169046580791473, + 0.5220157504081726, + 0.07202603667974472, + 0.3999297320842743, + 0.20574519038200378, + 0.19621407985687256, + 0.4773261845111847, + 0.2585694491863251, + 0.14672568440437317, + 0.13609391450881958, + 0.1633865088224411, + 0.09336462616920471, + 0.13303150236606598, + 0.05337560549378395, + 0.059572525322437286, + 0.02921689674258232, + 0.037889618426561356, + 0.008081012405455112, + 0.1846792846918106, + 0.07211615145206451, + 0.06876874715089798, + 0.2750396430492401, + 0.18587853014469147, + 0.17891716957092285, + 0.18672071397304535, + 1.555896282196045, + 5.3200483322143555, + 2.9803826808929443, + 7.118279933929443, + 2.486052989959717, + 4.213277339935303, + 2.543344736099243, + 2.710487127304077, + 0.8883762955665588, + 6.316850662231445, + 3.336742639541626, + 4.776673793792725, + 2.6288328170776367, + 3.3566219806671143, + 1.661218523979187, + 3.915306568145752, + 4.724218368530273, + 4.932797908782959, + 2.136909008026123, + 1.6207040548324585, + 3.136301040649414, + 1.8850123882293701, + 2.979745626449585, + 1.7939871549606323, + 2.02539324760437, + 0.7491763234138489, + 0.7111855149269104, + 0.29316428303718567, + 0.41018393635749817, + 0.3058367967605591, + 0.293786883354187, + 0.44259271025657654, + 2.1374950408935547, + 0.9072792530059814, + 3.2727808952331543, + 2.3367841243743896, + 1.8729904890060425, + 2.61806058883667, + 2.2839386463165283, + 0.6254268884658813, + 0.55152428150177, + 0.46350836753845215, + 0.37798768281936646, + 0.4729953408241272, + 0.34176337718963623, + 0.3214370310306549, + 0.034481629729270935, + 0.03000626154243946, + 0.04121607914566994, + 0.46426302194595337, + 1.1549947261810303, + 0.20645256340503693, + 0.38286176323890686, + 0.21024583280086517, + 0.20109017193317413, + 0.11110064387321472, + 0.4993017911911011, + 0.12664839625358582, + 0.3112102746963501, + 0.45958274602890015, + 0.16487054526805878, + 0.1420261263847351, + 0.6352242827415466, + 0.3210887908935547, + 0.20551876723766327, + 0.4381053149700165, + 0.2540793716907501, + 0.4756494462490082, + 0.26818791031837463, + 0.2554219961166382, + 0.17210182547569275, + 0.2409321665763855, + 0.20948675274848938, + 0.19888614118099213, + 0.6238135099411011, + 0.13524000346660614, + 0.1719372719526291, + 0.14497122168540955, + 0.1304759383201599, + 0.35568591952323914, + 0.16346675157546997, + 0.3173375725746155, + 0.301760196685791, + 0.1277649998664856, + 0.23771989345550537, + 0.2279687523841858, + 0.1627088338136673, + 0.19090504944324493, + 0.1758655607700348, + 0.17635686695575714, + 0.3079434037208557, + 0.1469896137714386, + 0.15143197774887085, + 0.2174496352672577, + 0.24153263866901398, + 2.5400702953338623, + 0.7784927487373352, + 0.8014529943466187, + 0.49186092615127563, + 0.4644414186477661, + 0.032917048782110214, + 1.672908067703247, + 1.714320182800293, + 0.8200381398200989, + 0.6402446031570435, + 0.7721521258354187, + 0.12834757566452026, + 1.0096720457077026, + 0.4962703287601471, + 0.186701238155365, + 2.2119836807250977, + 0.4018729329109192, + 0.671302855014801, + 0.18353480100631714, + 0.47255533933639526, + 0.47546252608299255, + 0.5766538977622986, + 3.2763562202453613, + 0.3428060710430145, + 0.31066659092903137, + 0.2688332200050354, + 0.2205354869365692, + 0.8406859040260315, + 0.5111684203147888, + 3.486008644104004, + 0.5192767977714539, + 0.3546893298625946, + 0.8580999970436096, + 1.084633231163025, + 0.550735592842102, + 0.37371575832366943, + 2.1564550399780273, + 0.438833624124527, + 1.229128122329712, + 0.2862628102302551, + 0.456217497587204, + 0.4220508337020874, + 0.5346795320510864 + ], + "min": [ + -0.7738266587257385, + -0.7785519957542419, + 0.8047138452529907, + 0.362972617149353, + -0.39202219247817993, + -0.4537297189235687, + -0.6713520288467407, + -2.588404893875122, + -0.6120349764823914, + -2.8275368213653564, + -0.15372222661972046, + -0.951376736164093, + -0.2964325249195099, + -0.5498606562614441, + -1.340929388999939, + -2.8312742710113525, + -0.14424635469913483, + -0.9635779857635498, + -0.3421826958656311, + -2.713390350341797, + -0.8166407942771912, + -0.7465353012084961, + -2.435533046722412, + -0.34453630447387695, + -2.7231476306915283, + -1.1035892963409424, + -2.030799627304077, + -1.7918709516525269, + -1.6800199747085571, + -1.0816969871520996, + -0.7855164408683777, + -0.0179448239505291, + -1.310250997543335, + -0.6712160706520081, + -1.6470437049865723, + -1.6693241596221924, + -3.1658830642700195, + -2.3178460597991943, + -2.742156744003296, + -0.35477113723754883, + -2.047354221343994, + -1.6716742515563965, + -1.7795490026474, + -1.0988768339157104, + -1.0807112455368042, + -1.359919548034668, + -0.08745958656072617, + -0.10996361821889877, + -0.06902205944061279, + -0.03577714413404465, + -0.10725100338459015, + -0.16500449180603027, + 0.23212723433971405, + -0.15850719809532166, + -0.3389427661895752, + -0.48557326197624207, + -0.9999662041664124, + -2.193283796310425, + -2.005195140838623, + -2.9684982299804688, + -14.704641342163086, + -35.7442741394043, + -27.823253631591797, + -42.56782913208008, + -17.66596794128418, + -28.55613136291504, + -18.625905990600586, + -16.490507125854492, + -10.852964401245117, + -42.668060302734375, + -25.953622817993164, + -35.95486068725586, + -15.408480644226074, + -18.612506866455078, + -15.283103942871094, + -26.06655502319336, + -42.76798629760742, + -36.13262176513672, + -44.69192123413086, + -33.59485626220703, + -50.01041030883789, + -23.964738845825195, + -40.4901237487793, + -40.53788757324219, + -34.724002838134766, + -11.396271705627441, + -7.337916851043701, + -15.102253913879395, + -7.832427024841309, + -6.652492046356201, + -14.993180274963379, + -7.22700834274292, + -28.398658752441406, + -29.543663024902344, + -54.26047134399414, + -26.262248992919922, + -42.363643646240234, + -29.495105743408203, + -32.66628646850586, + -13.511029243469238, + -6.207447528839111, + -7.135590076446533, + -13.95861530303955, + -15.821308135986328, + -9.488734245300293, + -4.1378703117370605, + -0.5477244257926941, + -0.4000769257545471, + -1.1597175598144531, + -3.9295666217803955, + -10.370935440063477, + -2.286783218383789, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999978542327881, + -0.9999985694885254, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -1.0, + -0.9995517134666443, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0114316940307617, + -0.9999999403953552, + -0.9990360736846924, + -0.999999463558197, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999744296073914, + -1.0126216411590576, + -1.0111839771270752, + -1.0120774507522583, + -1.0110723972320557, + -8.430097579956055, + -5.3019328117370605, + -7.265376091003418, + -7.152298927307129, + -2.3262784481048584, + -0.8691455125808716, + -8.419623374938965, + -5.453756332397461, + -8.519572257995605, + -7.417658805847168, + -2.3270232677459717, + -0.8725661039352417, + -8.12804889678955, + -1.7331101894378662, + -1.7331427335739136, + -7.758448123931885, + -5.18779182434082, + -7.035597801208496, + -4.171591281890869, + -5.295297145843506, + -7.329815864562988, + -7.226667404174805, + -7.7832183837890625, + -5.068985462188721, + -6.892783164978027, + -4.231439590454102, + -5.301170825958252, + -7.298786640167236, + -7.309111595153809, + -33.23622131347656, + -7.354803562164307, + -7.201472282409668, + -6.52398157119751, + -7.268587112426758, + -6.479650497436523, + -7.1601948738098145, + -33.16163635253906, + -7.369842529296875, + -7.256917953491211, + -6.44058895111084, + -7.232071399688721, + -6.4535651206970215, + -7.268499851226807 + ], + "max": [ + 0.7968977093696594, + 0.870449423789978, + 1.229228138923645, + 1.0098098516464233, + 0.6281046271324158, + 0.39047771692276, + 0.923689067363739, + 1.836792230606079, + 2.0094845294952393, + 0.5146425366401672, + 1.4299334287643433, + 0.5824787020683289, + 0.3080555200576782, + 1.6928329467773438, + 0.5641255974769592, + 0.574910044670105, + 1.4619487524032593, + 0.6180336475372314, + 0.34059756994247437, + 2.4387600421905518, + 0.7753986716270447, + 0.7548295855522156, + 2.7448768615722656, + 2.3413729667663574, + 2.7124242782592773, + 2.1763126850128174, + 2.0307083129882812, + 1.6608844995498657, + 1.6788032054901123, + 1.073332667350769, + 1.119672179222107, + 1.679815649986267, + 0.011416724883019924, + 0.009885883890092373, + 0.02091214619576931, + 0.039391230791807175, + 2.727888345718384, + 0.26414886116981506, + 2.6918773651123047, + 2.2842133045196533, + 2.0473055839538574, + 1.5992213487625122, + 1.6813691854476929, + 0.8559478521347046, + 0.7673411965370178, + 0.03894615173339844, + 1.5175704956054688, + 1.6913440227508545, + 1.3367129564285278, + 1.5084949731826782, + 0.20506694912910461, + 0.13876301050186157, + 0.44932129979133606, + 1.0099109411239624, + 0.4113212823867798, + 0.5044006109237671, + 0.3132859766483307, + 2.2153871059417725, + 2.56866455078125, + 1.0874477624893188, + 14.026494979858398, + 35.87355422973633, + 17.435447692871094, + 58.214996337890625, + 29.348100662231445, + 57.18246841430664, + 33.059749603271484, + 18.34288787841797, + 7.586318016052246, + 34.77031707763672, + 19.13775062561035, + 67.23902130126953, + 32.8304557800293, + 21.35066032409668, + 10.259953498840332, + 45.49869155883789, + 44.741912841796875, + 34.25974655151367, + 24.135086059570312, + 39.48954391479492, + 32.37991714477539, + 37.02838897705078, + 39.16765594482422, + 23.350276947021484, + 34.67495346069336, + 10.13438606262207, + 17.02427101135254, + 7.182557106018066, + 7.1651740074157715, + 4.514240741729736, + 4.544272422790527, + 7.851586818695068, + 48.17836380004883, + 31.60976219177246, + 42.078590393066406, + 33.623600006103516, + 37.444969177246094, + 29.93386459350586, + 29.09025764465332, + 8.599141120910645, + 7.06635046005249, + 4.504329204559326, + 10.100205421447754, + 8.537747383117676, + 11.322017669677734, + 7.311582088470459, + 0.6016557216644287, + 0.46527227759361267, + 0.5248227715492249, + 2.5876312255859375, + 10.419828414916992, + 2.212495803833008, + 0.9999999403953552, + 0.9999999403953552, + 0.7197454571723938, + 0.9845423102378845, + 1.0, + 0.9999999403953552, + 0.9999979734420776, + 1.0, + 0.9772722721099854, + 0.9999998807907104, + 1.0, + 0.9999999403953552, + 0.9999749660491943, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999960064888, + 1.012157678604126, + 1.0113283395767212, + 1.012593150138855, + 1.0112453699111938, + 0.9999973773956299, + 1.0, + 1.0114580392837524, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 8.45361614227295, + 5.409843444824219, + 7.038282871246338, + 7.3173346519470215, + 2.3257243633270264, + 0.8667038679122925, + 8.44979190826416, + 5.451396465301514, + 8.519572257995605, + 7.417666912078857, + 2.3254573345184326, + 0.8726640343666077, + 8.152491569519043, + 1.7332524061203003, + 1.7332826852798462, + 7.769432544708252, + 5.186692237854004, + 7.037702560424805, + 4.192294597625732, + 5.315018177032471, + 7.3286871910095215, + 7.305862903594971, + 7.78147554397583, + 5.187367916107178, + 6.911520481109619, + 4.21911096572876, + 5.290048599243164, + 7.284864902496338, + 7.319306373596191, + 33.33893585205078, + 7.366163730621338, + 7.271250247955322, + 6.540618419647217, + 7.163774013519287, + 6.516909599304199, + 7.196773529052734, + 33.23482894897461, + 7.359347820281982, + 7.252593517303467, + 6.366456985473633, + 7.220841884613037, + 6.449306488037109, + 7.263980865478516 + ], + "q01": [ + -0.1059706213325262, + -0.07322555936872958, + 1.1191173350811006, + 0.679385877251625, + -0.05206550966948271, + -0.35795281201601026, + -0.08105819717049596, + -0.25318225383758547, + -0.5263099247217178, + -2.7669665670394896, + -0.11667746432125568, + -0.7876168000698089, + -0.0008873671980109036, + 0.33318756997585297, + -0.4220974364876747, + -2.662647726535797, + -0.11147875376045704, + -0.5916734951734542, + -0.20154005140066147, + -2.642390201091766, + -0.5618392062187195, + -0.5271266180276871, + -0.43109364449977877, + -0.16410637736320496, + -0.00411854862235486, + -1.0625595700740815, + -0.09667239397764205, + 0.05577524997293949, + -1.6242454898357392, + -0.7248384058475494, + -0.34849473297595973, + 0.00018596773967146876, + -0.43447673320770264, + -0.4286180371046066, + -0.3288959085941315, + -0.26685177862644194, + -2.30307772397995, + -0.0015493131114635616, + 0.5286150228977203, + 0.991684068441391, + 1.1977828991413118, + -1.5713980436325072, + -0.007980468249879758, + -1.0198148810863494, + -1.0295359873771668, + -0.7010014879703522, + 1.1075910788349652e-05, + 3.796641805820402e-05, + -0.002652675125282258, + -0.0010495421348605304, + -0.014294282812625169, + -0.11820460259914398, + 0.34134758174419405, + 0.20981739565730095, + -0.1971270127594471, + -0.13211995631456375, + -0.96634621322155, + -0.5830292177200317, + -0.5944135797023773, + -0.5089943653345108, + -4.85288281917572, + -14.490709724426269, + -10.098205661773681, + -21.738415946960448, + -5.759124341011047, + -11.309423122406006, + -6.130308876037597, + -8.635315618515014, + -3.492782576084137, + -19.632789764404297, + -9.502745084762573, + -13.089497938156128, + -6.5785646152496335, + -9.744095964431763, + -5.848969163894653, + -11.457807102203368, + -14.555512323379515, + -12.21583477973938, + -6.847887320518494, + -4.45504744529724, + -11.898847789764405, + -6.687501616477967, + -11.476853771209717, + -5.3720994520187375, + -5.606906313896179, + -2.9537126946449277, + -2.2314684891700742, + -0.1491223007440567, + -1.4774546134471893, + -1.3940702176094055, + -0.9739846348762512, + -1.291306787729263, + -5.549564499855041, + -2.6417897081375123, + -5.568620076179504, + -5.234816064834595, + -3.056585736274719, + -9.270711669921875, + -6.528039121627807, + -3.5535058283805845, + -2.921538321971893, + -1.7942139887809754, + -0.5378423488140106, + -0.5881971716880798, + -0.31669264793395996, + -0.3238345617055893, + -0.09781760431826114, + -0.08309621661901474, + -0.11961487255990505, + -1.2058235335350036, + -3.209835648536682, + -0.6531460767984391, + -0.8885819673538208, + -1.0, + -1.0, + -0.9999999403953552, + -0.999003005027771, + 0.855252537727356, + -0.8852700787782669, + -0.9166188633441925, + -1.0, + -1.0, + -0.9978427135944367, + -0.6654279839992523, + -0.9999999403953552, + -0.9999729990959167, + -0.9999999403953552, + -0.9446608954668045, + -1.0, + -0.8733636730909348, + -1.0, + -0.5451807975769043, + -0.40755178332328795, + -0.9999997615814209, + -0.99991450548172, + 0.3189322656393051, + 0.2106913384795189, + 0.5466383516788483, + 0.7209190905094147, + -0.999997615814209, + 0.12745489791035658, + -0.9957364398241043, + -0.9848149216175079, + -0.9999992251396179, + -0.3119019436836242, + -0.2659728002548218, + 0.1642169997096062, + 0.0744642719626427, + -0.9999995231628418, + -0.9999999403953552, + -0.4796603178977966, + -0.9999997615814209, + -0.9999998807907104, + -0.9999967813491821, + -0.9999895095825195, + -5.832029194831848, + -2.636004958152771, + -2.583317222595215, + -1.54387482047081, + -1.597993677854538, + -0.00614931474905461, + -4.833893523216248, + -4.617929921150208, + -2.792983295917511, + -2.179419994354248, + -2.006844639778137, + -0.48490141987800595, + -3.8291208148002625, + -1.448185453414917, + -0.7589150667190552, + -5.719259076118469, + -0.9310647708177566, + -2.264724147319794, + -0.13117926448583603, + -1.646157112121582, + -1.1265769875049592, + -1.6594666540622711, + -7.088815479278565, + -0.7691190069913864, + -0.2737095314264297, + -0.32931179583072656, + -0.15996514678001403, + -3.3343448400497437, + -0.9833947724103927, + -12.1713152885437, + -1.241129493713379, + -0.6350447344779968, + -3.2221831035614015, + -4.0617134523391725, + -1.7525894010066985, + -1.0127829885482789, + -3.0726055645942685, + -0.5974031031131745, + -4.287043795585633, + -0.2522341841459274, + -1.2900772082805634, + -1.2486091482639312, + -1.4184790468215942 + ], + "q99": [ + 0.06062360130250495, + 0.08243259660899654, + 1.1935316359996797, + 0.9728069055080414, + 0.20790142372250559, + 0.007750333189033274, + 0.6821181941032416, + 0.9513507276773456, + -0.09067748270928817, + -0.902319039702413, + 0.49768854349851616, + 0.5371600770950318, + 0.27154604882001876, + 1.289898544549942, + 0.2552683055400851, + -1.1463078105449664, + 0.6094013017416001, + 0.4218133381009103, + 0.28174529552459715, + -1.3726214444637286, + 0.1816208744049085, + 0.4598455840349198, + 2.5422073483467105, + 1.645369020700457, + 2.6346838092803955, + 0.33028176426887634, + 1.9819732010364532, + 1.5883679223060607, + -0.2294815745949706, + 1.0474071991443634, + 1.0392625606060029, + 0.18259331449866378, + 0.0008039873669622509, + 0.0001011923354235485, + 0.0008182003005640603, + 8.414156654907873e-05, + 0.6845527529716505, + 0.1803370334208012, + 2.6385832738876345, + 2.1060218954086305, + 1.9819671821594238, + 1.1616523754596713, + 1.62172682762146, + -0.0006095676322000919, + -0.126132032126186, + 2.802880368108393e-05, + 0.3549252647161509, + 0.6623439753055622, + 0.17717068240046605, + 0.221679810881615, + 0.10683171056210995, + 0.06169814217835665, + 0.38602128446102146, + 0.9971175634860993, + 0.14167719855904579, + 0.21745531603693982, + 0.007019931268878344, + 0.5782898801565174, + 0.4393210509419453, + 0.41138115823268906, + 4.255398073196416, + 16.494801807403615, + 7.70051992416383, + 18.55417514801027, + 8.236512117385864, + 13.96522568702701, + 5.942360367774975, + 8.234539861679078, + 2.2543523359298714, + 17.453549938201927, + 7.982983231544497, + 15.898130187988322, + 9.402296295166098, + 8.949505929946904, + 4.226198358535778, + 14.962960710525527, + 14.57084172248843, + 14.625373058319099, + 6.013969349861195, + 5.4794220590591625, + 10.347935905456579, + 5.26764120578766, + 10.179061422348079, + 6.238092122077947, + 7.020430264473043, + 3.1866604971885755, + 3.770074193477631, + 0.6054882127046602, + 0.7263608664274216, + 0.700611503124239, + 0.5491872864961627, + 0.17242057025432647, + 6.290011057853717, + 2.4562095761299263, + 9.65687702178966, + 8.304952526092602, + 4.307369556427036, + 9.409512376785333, + 7.49382076740267, + 1.5907363700866715, + 0.9445658874511791, + 1.2241237854957618, + 1.1719621944427543, + 2.122948689460761, + 0.6521690672636252, + 0.7865366864204432, + 0.10589396975934529, + 0.07110530525445945, + 0.11455559574067627, + 1.3001963698863999, + 3.2042417454719585, + 0.45288409471511976, + 0.9778823554515844, + 0.02993349624797761, + -0.15149244070053006, + -0.49051137149333907, + 0.999252438545227, + 0.9999999403953552, + 0.8634047335386278, + 0.999685640335083, + -0.22685929387807843, + -0.309104263186454, + 0.9996544575691223, + 0.9999979138374329, + 0.17652750805020384, + 0.895593707561493, + 0.7706910198927008, + 0.9999987727403641, + 0.9567055803537396, + 0.9999889135360718, + -0.11376315921544367, + 1.0, + 0.9999977350234985, + 0.2212583427131348, + 0.991390958428383, + 0.9999985694885254, + 0.9999992847442627, + 0.9999999403953552, + 0.9999999403953552, + 0.9753171360492712, + 0.9999999403953552, + 0.999998927116394, + 0.9999995827674866, + -0.6165595281124076, + 0.9999999403953552, + 0.9999995827674866, + 0.9999920970201492, + 1.0, + -0.006899203760548317, + 0.04293421719223389, + 1.0, + -0.663221374154088, + -0.41522841155528817, + 0.41796202242378455, + 0.8624063724279446, + 6.242812004089371, + 2.5792232155799892, + 2.499589638710028, + 1.4799019134044702, + 1.6613757395744342, + 0.007180696725845662, + 4.894673504829424, + 4.317032833099375, + 2.58889780044556, + 2.118543298244477, + 2.080801265239716, + 0.4989215606451085, + 3.8988842678070297, + 1.4071551191806797, + 0.7434257751703283, + 5.7984748744964625, + 0.8670989370346114, + 2.377220633029938, + 0.11470026701688836, + 1.6907682049274477, + 1.1749551296234138, + 1.5018732464313589, + 7.14444738864899, + 0.8800609093904603, + 0.43633753895759897, + 0.38164688259363233, + 0.19386876940727432, + 3.3682362174987914, + 0.9230010265111935, + 12.487460165023816, + 1.2488960933685336, + 0.70224486768247, + 3.3042692732811036, + 4.253281240463258, + 1.7415197122097044, + 0.9388186782598515, + 3.311010940074972, + 0.36234861612319996, + 4.587373909950258, + 0.34277729898691195, + 1.280624896287921, + 1.261455546617513, + 1.557088985443117 + ] + }, + "action": { + "mean": [ + 0.7959898114204407, + 0.5228977203369141, + -2.428175687789917, + -0.309074729681015, + -0.3195468783378601, + -0.3192320466041565, + -2.301455020904541, + -2.4476866722106934, + -0.49558278918266296, + -0.03346357122063637, + -0.001685187453404069, + 0.9667679667472839, + -1.215242624282837, + 0.29551252722740173, + -0.028569087386131287, + -1.493161678314209, + 1.5362062454223633, + 0.2613345980644226, + 0.22364990413188934, + 2.4765260219573975, + 2.571157693862915, + -1.0225200653076172, + 2.0846688747406006, + 1.8540877103805542, + 1.9538458585739136, + 1.5714976787567139, + -1.4205882549285889, + -1.5688798427581787, + 1.5897024869918823, + 0.9853185415267944, + 1.0003451108932495, + 0.019797036424279213, + -0.07822708040475845, + -0.08779439330101013, + -0.034845586866140366, + -0.040097977966070175, + -1.0305582284927368, + -1.036097764968872, + -0.1483394056558609, + 0.013913169503211975, + 0.051525287330150604, + 0.04930776730179787, + 0.05270596966147423 + ], + "std": [ + 1.036950945854187, + 0.8438392877578735, + 0.5369921326637268, + 0.36739104986190796, + 0.8026944398880005, + 0.2249668687582016, + 0.5365131497383118, + 0.4322963356971741, + 0.1239250972867012, + 0.1464221030473709, + 0.2070380002260208, + 1.3576101064682007, + 1.8005298376083374, + 0.3465573191642761, + 0.44369906187057495, + 0.5179025530815125, + 0.2563841640949249, + 0.031248977407813072, + 0.08341854065656662, + 0.6562410593032837, + 0.4500460922718048, + 0.2731800675392151, + 0.16071636974811554, + 0.47569018602371216, + 0.2599450349807739, + 0.30979466438293457, + 0.5674522519111633, + 0.3182012140750885, + 0.23104844987392426, + 0.3276488482952118, + 0.2557191252708435, + 0.11622904241085052, + 0.19037115573883057, + 0.19998082518577576, + 0.12996840476989746, + 0.17227692902088165, + 0.1557493358850479, + 0.1528785675764084, + 0.2692328095436096, + 0.12015359103679657, + 0.13619183003902435, + 0.17271041870117188, + 0.21480974555015564 + ], + "min": [ + -2.5306999683380127, + -2.5306942462921143, + -2.618000030517578, + -0.5235999822616577, + -2.967097520828247, + -0.5199999809265137, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726699650287628, + -0.08726699650287628, + -3.089200019836426, + -3.089200019836426, + -0.8726699948310852, + -0.8726699948310852, + -1.5881999731063843, + -2.251499891281128, + -0.26179999113082886, + -0.26179999113082886, + -2.618000030517578, + -2.618000030517578, + -1.0471999645233154, + -1.046495795249939, + -1.9722199440002441, + -1.9722199440002441, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.0471999645233154, + -0.7243120074272156, + 0.0, + -1.5707999467849731, + -1.7444888353347778, + -1.5707999467849731, + -1.7453299760818481, + -1.0471999645233154, + -1.0471999645233154, + -1.7453076839447021, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 2.8797998428344727, + 2.8797945976257324, + 2.6179988384246826, + 2.967099905014038, + 0.5235999822616577, + 0.5199999809265137, + 2.0013227462768555, + 2.7323453426361084, + 0.5199999809265137, + 2.856868028640747, + 2.8797998428344727, + 2.6703999042510986, + 2.6703999042510986, + 0.5235999822616577, + 0.5235999822616577, + 2.251499891281128, + 1.5881999731063843, + 0.26179999113082886, + 0.26179999113082886, + 2.618000030517578, + 2.618000030517578, + 2.094399929046631, + 2.094399929046631, + 1.9722199440002441, + 1.9722199440002441, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.0471999645233154, + 1.0471999645233154, + 1.7453278303146362, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0471972227096558, + 0.7243120074272156, + 0.0, + 1.5707999467849731, + 1.7453299760818481, + 1.5707999467849731, + 1.7453299760818481 + ], + "q01": [ + -2.2431318759918213, + -2.2275888919830322, + -2.617999792098999, + -0.5235999822616577, + -2.8240888118743896, + -0.5199874639511108, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726691454648972, + -0.08726699650287628, + -2.8740804195404053, + -3.088956356048584, + -0.872017502784729, + -0.8712095618247986, + -1.5881999731063843, + 0.41434648633003235, + 0.2482401728630066, + -0.17439915239810944, + -2.3763270378112793, + 0.9237087565660478, + -1.0471999645233154, + 1.7061247825622559, + -1.1415928602218628, + 1.6603350639343262, + -0.11876842208206616, + -1.6144261360168457, + -1.6144295930862427, + 0.7907993793487549, + -1.0434150695800781, + -0.7000811100006104, + 7.802233312759199e-07, + -1.0570257902145386, + -1.1111327409744263, + -0.6695869565010071, + -0.8968654870986938, + -1.0471994876861572, + -1.0471999645233154, + -1.2922288179397583, + 5.149483399691235e-07, + 1.5604466341301304e-07, + 5.196297024667729e-06, + 1.0485681459613269e-05 + ], + "q99": [ + 2.8219339847564697, + 2.5108838081359863, + 0.5297284722328186, + 1.277254581451416, + 0.5230817198753357, + 0.4597421884536743, + -0.6499962866306066, + -0.7897148728370667, + 0.33223775029182434, + 0.5924091339111328, + 0.9083260297775269, + 2.6703968048095703, + 2.650707960128784, + 0.5230619561672212, + 0.5233774781227112, + 2.182425022125244, + 1.5881974697113037, + 0.26179999113082886, + 0.26179957389831543, + 2.617971181869507, + 2.6179981231689453, + 0.060908686369657516, + 2.094399929046631, + 1.9722199440002441, + 1.9722198247909546, + 1.6144264936447144, + 1.5651469230651855, + 0.34221699833869934, + 1.6144299507141113, + 1.0471988916397095, + 1.0471996068954468, + 0.3539747893810272, + -1.404404628146949e-07, + -8.842530974106921e-07, + -7.1156500780489296e-06, + -5.201488662009979e-08, + -0.3846815228462219, + -0.35126546025276184, + 0.0, + 0.3073590099811554, + 0.5300325751304626, + 1.1608226299285889, + 1.6748021841049194 + ] + } + }, + "prompt": "Keep the G1 humanoid balanced on the support board.", + "state_labels": [ + "state_0", + "state_1", + "state_2", + "state_3", + "state_4", + "state_5", + "state_6", + "state_7", + "state_8", + "state_9", + "state_10", + "state_11", + "state_12", + "state_13", + "state_14", + "state_15", + "state_16", + "state_17", + "state_18", + "state_19", + "state_20", + "state_21", + "state_22", + "state_23", + "state_24", + "state_25", + "state_26", + "state_27", + "state_28", + "state_29", + "state_30", + "state_31", + "state_32", + "state_33", + "state_34", + "state_35", + "state_36", + "state_37", + "state_38", + "state_39", + "state_40", + "state_41", + "state_42", + "state_43", + "state_44", + "state_45", + "state_46", + "state_47", + "state_48", + "state_49", + "state_50", + "state_51", + "state_52", + "state_53", + "state_54", + "state_55", + "state_56", + "state_57", + "state_58", + "state_59", + "state_60", + "state_61", + "state_62", + "state_63", + "state_64", + "state_65", + "state_66", + "state_67", + "state_68", + "state_69", + "state_70", + "state_71", + "state_72", + "state_73", + "state_74", + "state_75", + "state_76", + "state_77", + "state_78", + "state_79", + "state_80", + "state_81", + "state_82", + "state_83", + "state_84", + "state_85", + "state_86", + "state_87", + "state_88", + "state_89", + "state_90", + "state_91", + "state_92", + "state_93", + "state_94", + "state_95", + "state_96", + "state_97", + "state_98", + "state_99", + "state_100", + "state_101", + "state_102", + "state_103", + "state_104", + "state_105", + "state_106", + "state_107", + "state_108", + "state_109", + "state_110", + "state_111", + "state_112", + "state_113", + "state_114", + "state_115", + "state_116", + "state_117", + "state_118", + "state_119", + "state_120", + "state_121", + "state_122", + "state_123", + "state_124", + "state_125", + "state_126", + "state_127", + "state_128", + "state_129", + "state_130", + "state_131", + "state_132", + "state_133", + "state_134", + "state_135", + "state_136", + "state_137", + "state_138", + "state_139", + "state_140", + "state_141", + "state_142", + "state_143", + "state_144", + "state_145", + "state_146", + "state_147", + "state_148", + "state_149", + "state_150", + "state_151", + "state_152", + "state_153", + "state_154", + "state_155", + "state_156", + "state_157", + "state_158", + "state_159", + "state_160", + "state_161", + "state_162", + "state_163", + "state_164", + "state_165", + "state_166", + "state_167", + "state_168", + "state_169", + "state_170", + "state_171", + "state_172", + "state_173", + "state_174", + "state_175", + "state_176", + "state_177", + "state_178", + "state_179", + "state_180", + "state_181", + "state_182", + "state_183", + "state_184", + "state_185", + "state_186", + "state_187", + "state_188", + "state_189", + "state_190", + "state_191", + "state_192", + "state_193", + "state_194", + "state_195", + "state_196", + "state_197" + ], + "action_labels": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ], + "auxiliary": { + "action_valid_mask": { + "shape": [ + 8 + ], + "column": "action_valid_mask" + } + }, + "label_provenance": { + "semantics": "expert_closed_loop_compacted_applied_actions_v3", + "condition": "zero-latency", + "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth", + "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml", + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/episodes.jsonl b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6d0b623abdcb8ddec5efe5beaac33e7653e05c8 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/episodes.jsonl @@ -0,0 +1,10 @@ +{"episode_index": 0, "length": 1000} +{"episode_index": 1, "length": 1000} +{"episode_index": 2, "length": 722} +{"episode_index": 3, "length": 205} +{"episode_index": 4, "length": 1000} +{"episode_index": 5, "length": 1000} +{"episode_index": 6, "length": 1000} +{"episode_index": 7, "length": 1000} +{"episode_index": 8, "length": 1000} +{"episode_index": 9, "length": 315} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/info.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..6b32c2163212dae52d9a69708d8b4dc7bf80575a --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/info.json @@ -0,0 +1,392 @@ +{ + "codebase_version": "v2.0", + "fps": 50.0, + "total_episodes": 10, + "total_frames": 8242, + "total_tasks": 1, + "total_videos": 0, + "total_chunks": 1, + "chunks_size": 1000, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.image": { + "dtype": "image", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 50.0 + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 198 + ], + "names": [ + "state_0", + "state_1", + "state_2", + "state_3", + "state_4", + "state_5", + "state_6", + "state_7", + "state_8", + "state_9", + "state_10", + "state_11", + "state_12", + "state_13", + "state_14", + "state_15", + "state_16", + "state_17", + "state_18", + "state_19", + "state_20", + "state_21", + "state_22", + "state_23", + "state_24", + "state_25", + "state_26", + "state_27", + "state_28", + "state_29", + "state_30", + "state_31", + "state_32", + "state_33", + "state_34", + "state_35", + "state_36", + "state_37", + "state_38", + "state_39", + "state_40", + "state_41", + "state_42", + "state_43", + "state_44", + "state_45", + "state_46", + "state_47", + "state_48", + "state_49", + "state_50", + "state_51", + "state_52", + "state_53", + "state_54", + "state_55", + "state_56", + "state_57", + "state_58", + "state_59", + "state_60", + "state_61", + "state_62", + "state_63", + "state_64", + "state_65", + "state_66", + "state_67", + "state_68", + "state_69", + "state_70", + "state_71", + "state_72", + "state_73", + "state_74", + "state_75", + "state_76", + "state_77", + "state_78", + "state_79", + "state_80", + "state_81", + "state_82", + "state_83", + "state_84", + "state_85", + "state_86", + "state_87", + "state_88", + "state_89", + "state_90", + "state_91", + "state_92", + "state_93", + "state_94", + "state_95", + "state_96", + "state_97", + "state_98", + "state_99", + "state_100", + "state_101", + "state_102", + "state_103", + "state_104", + "state_105", + "state_106", + "state_107", + "state_108", + "state_109", + "state_110", + "state_111", + "state_112", + "state_113", + "state_114", + "state_115", + "state_116", + "state_117", + "state_118", + "state_119", + "state_120", + "state_121", + "state_122", + "state_123", + "state_124", + "state_125", + "state_126", + "state_127", + "state_128", + "state_129", + "state_130", + "state_131", + "state_132", + "state_133", + "state_134", + "state_135", + "state_136", + "state_137", + "state_138", + "state_139", + "state_140", + "state_141", + "state_142", + "state_143", + "state_144", + "state_145", + "state_146", + "state_147", + "state_148", + "state_149", + "state_150", + "state_151", + "state_152", + "state_153", + "state_154", + "state_155", + "state_156", + "state_157", + "state_158", + "state_159", + "state_160", + "state_161", + "state_162", + "state_163", + "state_164", + "state_165", + "state_166", + "state_167", + "state_168", + "state_169", + "state_170", + "state_171", + "state_172", + "state_173", + "state_174", + "state_175", + "state_176", + "state_177", + "state_178", + "state_179", + "state_180", + "state_181", + "state_182", + "state_183", + "state_184", + "state_185", + "state_186", + "state_187", + "state_188", + "state_189", + "state_190", + "state_191", + "state_192", + "state_193", + "state_194", + "state_195", + "state_196", + "state_197" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 43 + ], + "names": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ] + }, + "timestamp": { + "dtype": "float64", + "shape": [ + 1 + ] + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "latency": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "issued_command_chunk": { + "dtype": "float32", + "shape": [ + 8, + 43 + ], + "names": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ] + }, + "action_valid_mask": { + "dtype": "bool", + "shape": [ + 8 + ], + "names": null + } + }, + "label_provenance": { + "semantics": "expert_closed_loop_compacted_applied_actions_v3", + "condition": "zero-latency", + "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth", + "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml", + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/modality.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..37939fd4b4b6144caa0e2c3864211af8049d5ca5 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/modality.json @@ -0,0 +1,30 @@ +{ + "state": { + "proprio": { + "start": 0, + "end": 198, + "dtype": "float32", + "absolute": true, + "original_key": "observation.state" + } + }, + "action": { + "target": { + "start": 0, + "end": 43, + "dtype": "float32", + "absolute": true, + "original_key": "issued_command_chunk" + } + }, + "video": { + "ego_view": { + "original_key": "observation.image" + } + }, + "annotation": { + "human.task_description": { + "original_key": "task_index" + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/stats_gr00t.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/stats_gr00t.json new file mode 100644 index 0000000000000000000000000000000000000000..a5593043140c9107bd1ffa1e00182ffa48f6f42d --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/stats_gr00t.json @@ -0,0 +1,1482 @@ +{ + "__format_version": 2, + "__cache_config": { + "mode": "abs" + }, + "statistics": { + "observation.state": { + "mean": [ + -0.025635866448283195, + 0.01927330158650875, + 1.158280849456787, + 0.8420453071594238, + 0.09217120707035065, + -0.24410997331142426, + 0.43043604493141174, + 0.6107878684997559, + -0.36157432198524475, + -2.2956392765045166, + -0.020235884934663773, + 0.25374069809913635, + 0.23445872962474823, + 0.9837883710861206, + 0.019179554656147957, + -2.2150073051452637, + 0.02453281171619892, + 0.01515278872102499, + 0.11208437383174896, + -2.5039801597595215, + -0.3171134293079376, + -0.0686328336596489, + 0.7423364520072937, + -0.09060867875814438, + 2.3995463848114014, + -0.9610512852668762, + 1.831926941871643, + 1.5193060636520386, + -1.5542447566986084, + 0.9558709859848022, + 0.9690955281257629, + 0.04609622061252594, + -0.10769475251436234, + -0.11746398359537125, + -0.050113387405872345, + -0.06978099048137665, + -1.0273784399032593, + 0.12156488746404648, + 2.523613214492798, + 1.9652788639068604, + 1.8964390754699707, + -1.3841028213500977, + 1.5590707063674927, + -0.9584358334541321, + -0.9712133407592773, + -0.1826982945203781, + 0.08000596612691879, + 0.0818018838763237, + 0.03333243355154991, + 0.08844511955976486, + 0.03909463435411453, + -0.0020254473201930523, + 0.3669467270374298, + 0.8385100364685059, + -0.016125880181789398, + 0.054703421890735626, + -0.41709983348846436, + 0.00392829068005085, + 0.00045848003355786204, + -0.009230023249983788, + 0.03995200991630554, + -0.025031527504324913, + -0.05424543470144272, + 0.06451783329248428, + -0.032721634954214096, + -0.17672590911388397, + 0.047239143401384354, + -0.007737244013696909, + 0.0070444741286337376, + 0.06683658063411713, + -0.0391998291015625, + -0.1848878562450409, + 0.06604130566120148, + 0.04000888392329216, + -0.04563077911734581, + -0.06146590784192085, + 0.005553993862122297, + 0.003672658698633313, + 0.004579359199851751, + 0.01721019111573696, + 0.009838767349720001, + -0.0411921963095665, + 0.05534300580620766, + 0.021276449784636497, + -0.017730142921209335, + 0.01852448470890522, + 0.026192817836999893, + 0.017280517145991325, + -0.020997602492570877, + -0.011225354857742786, + -0.013926774263381958, + -0.04107198119163513, + -0.013462104834616184, + -0.03042677603662014, + 0.05716199427843094, + 0.1439625322818756, + 0.036779891699552536, + -0.02483469247817993, + 0.04702555388212204, + -0.053644128143787384, + -0.04921655356884003, + -0.008309480734169483, + 0.01952100731432438, + 0.04048770293593407, + 0.018233107402920723, + 0.019435837864875793, + 0.0031018215231597424, + -0.0024947302881628275, + -0.00115527817979455, + -0.0010873962892219424, + 0.016630934551358223, + -0.10641032457351685, + 0.22848373651504517, + -0.8768635392189026, + -0.8304542899131775, + -0.9615831971168518, + 0.670092761516571, + 0.9886237382888794, + 0.12885665893554688, + 0.5178567171096802, + -0.8841050267219543, + -0.9407947659492493, + 0.21028102934360504, + 0.8530989289283752, + -0.9250379800796509, + -0.6095163822174072, + -0.9497316479682922, + 0.40414535999298096, + -0.9537464380264282, + 0.9410228729248047, + -0.9798156023025513, + 0.9365619421005249, + 0.9648406505584717, + -0.9663228392601013, + -0.3515448272228241, + 0.9753411412239075, + 0.9784616827964783, + 0.9814562797546387, + 0.9856275916099548, + -0.8747818470001221, + 0.9767156839370728, + 0.933849036693573, + 0.9374470710754395, + -0.9782372117042542, + 0.902039647102356, + 0.9001173377037048, + 0.9564682245254517, + 0.9555589556694031, + -0.9748904705047607, + -0.9779942035675049, + 0.8307808041572571, + -0.983437180519104, + -0.9420256614685059, + -0.9381495714187622, + -0.941119909286499, + 0.0023598656989634037, + -0.0006919423467479646, + -0.005112492013722658, + -0.0024081734009087086, + 0.0010813764529302716, + 0.00024064548779278994, + 0.000810829340480268, + -0.0005454471101984382, + -0.004711040761321783, + -0.002072703093290329, + 0.0010424338979646564, + 0.0005085889715701342, + -0.0023964685387909412, + -0.0008362433291040361, + -0.000606008165050298, + -0.0006688470020890236, + -0.0009728798759169877, + 0.00048423290718346834, + -0.0006415388197638094, + 0.0017771177226677537, + 0.00025553774321451783, + -0.00023540231632068753, + 0.0015673300949856639, + 0.002228525932878256, + 0.0014416706981137395, + 0.003562557976692915, + 0.0007267582695931196, + 4.854144572163932e-05, + 0.0022943762596696615, + 0.010386521928012371, + 0.002200278453528881, + 0.002316048601642251, + -0.003583162324503064, + -0.0007797399302944541, + -0.002008962444961071, + -0.0043142870999872684, + -0.01754925772547722, + -0.004589166026562452, + -0.00024148709781002253, + 0.003161373781040311, + 0.0026675332337617874, + 0.0019355244003236294, + 0.0044266218319535255 + ], + "std": [ + 0.042112722992897034, + 0.04505845904350281, + 0.019536972045898438, + 0.07037361711263657, + 0.05006727576255798, + 0.06939660757780075, + 0.15914051234722137, + 0.24234844744205475, + 0.09416885673999786, + 0.4407274127006531, + 0.10750807076692581, + 0.2626357674598694, + 0.054102811962366104, + 0.1717834770679474, + 0.13306479156017303, + 0.31821396946907043, + 0.16464810073375702, + 0.21407298743724823, + 0.11660125851631165, + 0.2629775404930115, + 0.1486019492149353, + 0.1976539045572281, + 0.5837306976318359, + 0.2469710409641266, + 0.530748188495636, + 0.2427956759929657, + 0.403916597366333, + 0.26059386134147644, + 0.22713233530521393, + 0.265508770942688, + 0.21963919699192047, + 0.0628613755106926, + 0.0950002521276474, + 0.09448856860399246, + 0.07075409591197968, + 0.09169046580791473, + 0.5220157504081726, + 0.07202603667974472, + 0.3999297320842743, + 0.20574519038200378, + 0.19621407985687256, + 0.4773261845111847, + 0.2585694491863251, + 0.14672568440437317, + 0.13609391450881958, + 0.1633865088224411, + 0.09336462616920471, + 0.13303150236606598, + 0.05337560549378395, + 0.059572525322437286, + 0.02921689674258232, + 0.037889618426561356, + 0.008081012405455112, + 0.1846792846918106, + 0.07211615145206451, + 0.06876874715089798, + 0.2750396430492401, + 0.18587853014469147, + 0.17891716957092285, + 0.18672071397304535, + 1.555896282196045, + 5.3200483322143555, + 2.9803826808929443, + 7.118279933929443, + 2.486052989959717, + 4.213277339935303, + 2.543344736099243, + 2.710487127304077, + 0.8883762955665588, + 6.316850662231445, + 3.336742639541626, + 4.776673793792725, + 2.6288328170776367, + 3.3566219806671143, + 1.661218523979187, + 3.915306568145752, + 4.724218368530273, + 4.932797908782959, + 2.136909008026123, + 1.6207040548324585, + 3.136301040649414, + 1.8850123882293701, + 2.979745626449585, + 1.7939871549606323, + 2.02539324760437, + 0.7491763234138489, + 0.7111855149269104, + 0.29316428303718567, + 0.41018393635749817, + 0.3058367967605591, + 0.293786883354187, + 0.44259271025657654, + 2.1374950408935547, + 0.9072792530059814, + 3.2727808952331543, + 2.3367841243743896, + 1.8729904890060425, + 2.61806058883667, + 2.2839386463165283, + 0.6254268884658813, + 0.55152428150177, + 0.46350836753845215, + 0.37798768281936646, + 0.4729953408241272, + 0.34176337718963623, + 0.3214370310306549, + 0.034481629729270935, + 0.03000626154243946, + 0.04121607914566994, + 0.46426302194595337, + 1.1549947261810303, + 0.20645256340503693, + 0.38286176323890686, + 0.21024583280086517, + 0.20109017193317413, + 0.11110064387321472, + 0.4993017911911011, + 0.12664839625358582, + 0.3112102746963501, + 0.45958274602890015, + 0.16487054526805878, + 0.1420261263847351, + 0.6352242827415466, + 0.3210887908935547, + 0.20551876723766327, + 0.4381053149700165, + 0.2540793716907501, + 0.4756494462490082, + 0.26818791031837463, + 0.2554219961166382, + 0.17210182547569275, + 0.2409321665763855, + 0.20948675274848938, + 0.19888614118099213, + 0.6238135099411011, + 0.13524000346660614, + 0.1719372719526291, + 0.14497122168540955, + 0.1304759383201599, + 0.35568591952323914, + 0.16346675157546997, + 0.3173375725746155, + 0.301760196685791, + 0.1277649998664856, + 0.23771989345550537, + 0.2279687523841858, + 0.1627088338136673, + 0.19090504944324493, + 0.1758655607700348, + 0.17635686695575714, + 0.3079434037208557, + 0.1469896137714386, + 0.15143197774887085, + 0.2174496352672577, + 0.24153263866901398, + 2.5400702953338623, + 0.7784927487373352, + 0.8014529943466187, + 0.49186092615127563, + 0.4644414186477661, + 0.032917048782110214, + 1.672908067703247, + 1.714320182800293, + 0.8200381398200989, + 0.6402446031570435, + 0.7721521258354187, + 0.12834757566452026, + 1.0096720457077026, + 0.4962703287601471, + 0.186701238155365, + 2.2119836807250977, + 0.4018729329109192, + 0.671302855014801, + 0.18353480100631714, + 0.47255533933639526, + 0.47546252608299255, + 0.5766538977622986, + 3.2763562202453613, + 0.3428060710430145, + 0.31066659092903137, + 0.2688332200050354, + 0.2205354869365692, + 0.8406859040260315, + 0.5111684203147888, + 3.486008644104004, + 0.5192767977714539, + 0.3546893298625946, + 0.8580999970436096, + 1.084633231163025, + 0.550735592842102, + 0.37371575832366943, + 2.1564550399780273, + 0.438833624124527, + 1.229128122329712, + 0.2862628102302551, + 0.456217497587204, + 0.4220508337020874, + 0.5346795320510864 + ], + "min": [ + -0.7738266587257385, + -0.7785519957542419, + 0.8047138452529907, + 0.362972617149353, + -0.39202219247817993, + -0.4537297189235687, + -0.6713520288467407, + -2.588404893875122, + -0.6120349764823914, + -2.8275368213653564, + -0.15372222661972046, + -0.951376736164093, + -0.2964325249195099, + -0.5498606562614441, + -1.340929388999939, + -2.8312742710113525, + -0.14424635469913483, + -0.9635779857635498, + -0.3421826958656311, + -2.713390350341797, + -0.8166407942771912, + -0.7465353012084961, + -2.435533046722412, + -0.34453630447387695, + -2.7231476306915283, + -1.1035892963409424, + -2.030799627304077, + -1.7918709516525269, + -1.6800199747085571, + -1.0816969871520996, + -0.7855164408683777, + -0.0179448239505291, + -1.310250997543335, + -0.6712160706520081, + -1.6470437049865723, + -1.6693241596221924, + -3.1658830642700195, + -2.3178460597991943, + -2.742156744003296, + -0.35477113723754883, + -2.047354221343994, + -1.6716742515563965, + -1.7795490026474, + -1.0988768339157104, + -1.0807112455368042, + -1.359919548034668, + -0.08745958656072617, + -0.10996361821889877, + -0.06902205944061279, + -0.03577714413404465, + -0.10725100338459015, + -0.16500449180603027, + 0.23212723433971405, + -0.15850719809532166, + -0.3389427661895752, + -0.48557326197624207, + -0.9999662041664124, + -2.193283796310425, + -2.005195140838623, + -2.9684982299804688, + -14.704641342163086, + -35.7442741394043, + -27.823253631591797, + -42.56782913208008, + -17.66596794128418, + -28.55613136291504, + -18.625905990600586, + -16.490507125854492, + -10.852964401245117, + -42.668060302734375, + -25.953622817993164, + -35.95486068725586, + -15.408480644226074, + -18.612506866455078, + -15.283103942871094, + -26.06655502319336, + -42.76798629760742, + -36.13262176513672, + -44.69192123413086, + -33.59485626220703, + -50.01041030883789, + -23.964738845825195, + -40.4901237487793, + -40.53788757324219, + -34.724002838134766, + -11.396271705627441, + -7.337916851043701, + -15.102253913879395, + -7.832427024841309, + -6.652492046356201, + -14.993180274963379, + -7.22700834274292, + -28.398658752441406, + -29.543663024902344, + -54.26047134399414, + -26.262248992919922, + -42.363643646240234, + -29.495105743408203, + -32.66628646850586, + -13.511029243469238, + -6.207447528839111, + -7.135590076446533, + -13.95861530303955, + -15.821308135986328, + -9.488734245300293, + -4.1378703117370605, + -0.5477244257926941, + -0.4000769257545471, + -1.1597175598144531, + -3.9295666217803955, + -10.370935440063477, + -2.286783218383789, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999978542327881, + -0.9999985694885254, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -1.0, + -0.9995517134666443, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0114316940307617, + -0.9999999403953552, + -0.9990360736846924, + -0.999999463558197, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999744296073914, + -1.0126216411590576, + -1.0111839771270752, + -1.0120774507522583, + -1.0110723972320557, + -8.430097579956055, + -5.3019328117370605, + -7.265376091003418, + -7.152298927307129, + -2.3262784481048584, + -0.8691455125808716, + -8.419623374938965, + -5.453756332397461, + -8.519572257995605, + -7.417658805847168, + -2.3270232677459717, + -0.8725661039352417, + -8.12804889678955, + -1.7331101894378662, + -1.7331427335739136, + -7.758448123931885, + -5.18779182434082, + -7.035597801208496, + -4.171591281890869, + -5.295297145843506, + -7.329815864562988, + -7.226667404174805, + -7.7832183837890625, + -5.068985462188721, + -6.892783164978027, + -4.231439590454102, + -5.301170825958252, + -7.298786640167236, + -7.309111595153809, + -33.23622131347656, + -7.354803562164307, + -7.201472282409668, + -6.52398157119751, + -7.268587112426758, + -6.479650497436523, + -7.1601948738098145, + -33.16163635253906, + -7.369842529296875, + -7.256917953491211, + -6.44058895111084, + -7.232071399688721, + -6.4535651206970215, + -7.268499851226807 + ], + "max": [ + 0.7968977093696594, + 0.870449423789978, + 1.229228138923645, + 1.0098098516464233, + 0.6281046271324158, + 0.39047771692276, + 0.923689067363739, + 1.836792230606079, + 2.0094845294952393, + 0.5146425366401672, + 1.4299334287643433, + 0.5824787020683289, + 0.3080555200576782, + 1.6928329467773438, + 0.5641255974769592, + 0.574910044670105, + 1.4619487524032593, + 0.6180336475372314, + 0.34059756994247437, + 2.4387600421905518, + 0.7753986716270447, + 0.7548295855522156, + 2.7448768615722656, + 2.3413729667663574, + 2.7124242782592773, + 2.1763126850128174, + 2.0307083129882812, + 1.6608844995498657, + 1.6788032054901123, + 1.073332667350769, + 1.119672179222107, + 1.679815649986267, + 0.011416724883019924, + 0.009885883890092373, + 0.02091214619576931, + 0.039391230791807175, + 2.727888345718384, + 0.26414886116981506, + 2.6918773651123047, + 2.2842133045196533, + 2.0473055839538574, + 1.5992213487625122, + 1.6813691854476929, + 0.8559478521347046, + 0.7673411965370178, + 0.03894615173339844, + 1.5175704956054688, + 1.6913440227508545, + 1.3367129564285278, + 1.5084949731826782, + 0.20506694912910461, + 0.13876301050186157, + 0.44932129979133606, + 1.0099109411239624, + 0.4113212823867798, + 0.5044006109237671, + 0.3132859766483307, + 2.2153871059417725, + 2.56866455078125, + 1.0874477624893188, + 14.026494979858398, + 35.87355422973633, + 17.435447692871094, + 58.214996337890625, + 29.348100662231445, + 57.18246841430664, + 33.059749603271484, + 18.34288787841797, + 7.586318016052246, + 34.77031707763672, + 19.13775062561035, + 67.23902130126953, + 32.8304557800293, + 21.35066032409668, + 10.259953498840332, + 45.49869155883789, + 44.741912841796875, + 34.25974655151367, + 24.135086059570312, + 39.48954391479492, + 32.37991714477539, + 37.02838897705078, + 39.16765594482422, + 23.350276947021484, + 34.67495346069336, + 10.13438606262207, + 17.02427101135254, + 7.182557106018066, + 7.1651740074157715, + 4.514240741729736, + 4.544272422790527, + 7.851586818695068, + 48.17836380004883, + 31.60976219177246, + 42.078590393066406, + 33.623600006103516, + 37.444969177246094, + 29.93386459350586, + 29.09025764465332, + 8.599141120910645, + 7.06635046005249, + 4.504329204559326, + 10.100205421447754, + 8.537747383117676, + 11.322017669677734, + 7.311582088470459, + 0.6016557216644287, + 0.46527227759361267, + 0.5248227715492249, + 2.5876312255859375, + 10.419828414916992, + 2.212495803833008, + 0.9999999403953552, + 0.9999999403953552, + 0.7197454571723938, + 0.9845423102378845, + 1.0, + 0.9999999403953552, + 0.9999979734420776, + 1.0, + 0.9772722721099854, + 0.9999998807907104, + 1.0, + 0.9999999403953552, + 0.9999749660491943, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999960064888, + 1.012157678604126, + 1.0113283395767212, + 1.012593150138855, + 1.0112453699111938, + 0.9999973773956299, + 1.0, + 1.0114580392837524, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 8.45361614227295, + 5.409843444824219, + 7.038282871246338, + 7.3173346519470215, + 2.3257243633270264, + 0.8667038679122925, + 8.44979190826416, + 5.451396465301514, + 8.519572257995605, + 7.417666912078857, + 2.3254573345184326, + 0.8726640343666077, + 8.152491569519043, + 1.7332524061203003, + 1.7332826852798462, + 7.769432544708252, + 5.186692237854004, + 7.037702560424805, + 4.192294597625732, + 5.315018177032471, + 7.3286871910095215, + 7.305862903594971, + 7.78147554397583, + 5.187367916107178, + 6.911520481109619, + 4.21911096572876, + 5.290048599243164, + 7.284864902496338, + 7.319306373596191, + 33.33893585205078, + 7.366163730621338, + 7.271250247955322, + 6.540618419647217, + 7.163774013519287, + 6.516909599304199, + 7.196773529052734, + 33.23482894897461, + 7.359347820281982, + 7.252593517303467, + 6.366456985473633, + 7.220841884613037, + 6.449306488037109, + 7.263980865478516 + ], + "q01": [ + -0.1059706213325262, + -0.07322555936872958, + 1.1191173350811006, + 0.679385877251625, + -0.05206550966948271, + -0.35795281201601026, + -0.08105819717049596, + -0.25318225383758547, + -0.5263099247217178, + -2.7669665670394896, + -0.11667746432125568, + -0.7876168000698089, + -0.0008873671980109036, + 0.33318756997585297, + -0.4220974364876747, + -2.662647726535797, + -0.11147875376045704, + -0.5916734951734542, + -0.20154005140066147, + -2.642390201091766, + -0.5618392062187195, + -0.5271266180276871, + -0.43109364449977877, + -0.16410637736320496, + -0.00411854862235486, + -1.0625595700740815, + -0.09667239397764205, + 0.05577524997293949, + -1.6242454898357392, + -0.7248384058475494, + -0.34849473297595973, + 0.00018596773967146876, + -0.43447673320770264, + -0.4286180371046066, + -0.3288959085941315, + -0.26685177862644194, + -2.30307772397995, + -0.0015493131114635616, + 0.5286150228977203, + 0.991684068441391, + 1.1977828991413118, + -1.5713980436325072, + -0.007980468249879758, + -1.0198148810863494, + -1.0295359873771668, + -0.7010014879703522, + 1.1075910788349652e-05, + 3.796641805820402e-05, + -0.002652675125282258, + -0.0010495421348605304, + -0.014294282812625169, + -0.11820460259914398, + 0.34134758174419405, + 0.20981739565730095, + -0.1971270127594471, + -0.13211995631456375, + -0.96634621322155, + -0.5830292177200317, + -0.5944135797023773, + -0.5089943653345108, + -4.85288281917572, + -14.490709724426269, + -10.098205661773681, + -21.738415946960448, + -5.759124341011047, + -11.309423122406006, + -6.130308876037597, + -8.635315618515014, + -3.492782576084137, + -19.632789764404297, + -9.502745084762573, + -13.089497938156128, + -6.5785646152496335, + -9.744095964431763, + -5.848969163894653, + -11.457807102203368, + -14.555512323379515, + -12.21583477973938, + -6.847887320518494, + -4.45504744529724, + -11.898847789764405, + -6.687501616477967, + -11.476853771209717, + -5.3720994520187375, + -5.606906313896179, + -2.9537126946449277, + -2.2314684891700742, + -0.1491223007440567, + -1.4774546134471893, + -1.3940702176094055, + -0.9739846348762512, + -1.291306787729263, + -5.549564499855041, + -2.6417897081375123, + -5.568620076179504, + -5.234816064834595, + -3.056585736274719, + -9.270711669921875, + -6.528039121627807, + -3.5535058283805845, + -2.921538321971893, + -1.7942139887809754, + -0.5378423488140106, + -0.5881971716880798, + -0.31669264793395996, + -0.3238345617055893, + -0.09781760431826114, + -0.08309621661901474, + -0.11961487255990505, + -1.2058235335350036, + -3.209835648536682, + -0.6531460767984391, + -0.8885819673538208, + -1.0, + -1.0, + -0.9999999403953552, + -0.999003005027771, + 0.855252537727356, + -0.8852700787782669, + -0.9166188633441925, + -1.0, + -1.0, + -0.9978427135944367, + -0.6654279839992523, + -0.9999999403953552, + -0.9999729990959167, + -0.9999999403953552, + -0.9446608954668045, + -1.0, + -0.8733636730909348, + -1.0, + -0.5451807975769043, + -0.40755178332328795, + -0.9999997615814209, + -0.99991450548172, + 0.3189322656393051, + 0.2106913384795189, + 0.5466383516788483, + 0.7209190905094147, + -0.999997615814209, + 0.12745489791035658, + -0.9957364398241043, + -0.9848149216175079, + -0.9999992251396179, + -0.3119019436836242, + -0.2659728002548218, + 0.1642169997096062, + 0.0744642719626427, + -0.9999995231628418, + -0.9999999403953552, + -0.4796603178977966, + -0.9999997615814209, + -0.9999998807907104, + -0.9999967813491821, + -0.9999895095825195, + -5.832029194831848, + -2.636004958152771, + -2.583317222595215, + -1.54387482047081, + -1.597993677854538, + -0.00614931474905461, + -4.833893523216248, + -4.617929921150208, + -2.792983295917511, + -2.179419994354248, + -2.006844639778137, + -0.48490141987800595, + -3.8291208148002625, + -1.448185453414917, + -0.7589150667190552, + -5.719259076118469, + -0.9310647708177566, + -2.264724147319794, + -0.13117926448583603, + -1.646157112121582, + -1.1265769875049592, + -1.6594666540622711, + -7.088815479278565, + -0.7691190069913864, + -0.2737095314264297, + -0.32931179583072656, + -0.15996514678001403, + -3.3343448400497437, + -0.9833947724103927, + -12.1713152885437, + -1.241129493713379, + -0.6350447344779968, + -3.2221831035614015, + -4.0617134523391725, + -1.7525894010066985, + -1.0127829885482789, + -3.0726055645942685, + -0.5974031031131745, + -4.287043795585633, + -0.2522341841459274, + -1.2900772082805634, + -1.2486091482639312, + -1.4184790468215942 + ], + "q99": [ + 0.06062360130250495, + 0.08243259660899654, + 1.1935316359996797, + 0.9728069055080414, + 0.20790142372250559, + 0.007750333189033274, + 0.6821181941032416, + 0.9513507276773456, + -0.09067748270928817, + -0.902319039702413, + 0.49768854349851616, + 0.5371600770950318, + 0.27154604882001876, + 1.289898544549942, + 0.2552683055400851, + -1.1463078105449664, + 0.6094013017416001, + 0.4218133381009103, + 0.28174529552459715, + -1.3726214444637286, + 0.1816208744049085, + 0.4598455840349198, + 2.5422073483467105, + 1.645369020700457, + 2.6346838092803955, + 0.33028176426887634, + 1.9819732010364532, + 1.5883679223060607, + -0.2294815745949706, + 1.0474071991443634, + 1.0392625606060029, + 0.18259331449866378, + 0.0008039873669622509, + 0.0001011923354235485, + 0.0008182003005640603, + 8.414156654907873e-05, + 0.6845527529716505, + 0.1803370334208012, + 2.6385832738876345, + 2.1060218954086305, + 1.9819671821594238, + 1.1616523754596713, + 1.62172682762146, + -0.0006095676322000919, + -0.126132032126186, + 2.802880368108393e-05, + 0.3549252647161509, + 0.6623439753055622, + 0.17717068240046605, + 0.221679810881615, + 0.10683171056210995, + 0.06169814217835665, + 0.38602128446102146, + 0.9971175634860993, + 0.14167719855904579, + 0.21745531603693982, + 0.007019931268878344, + 0.5782898801565174, + 0.4393210509419453, + 0.41138115823268906, + 4.255398073196416, + 16.494801807403615, + 7.70051992416383, + 18.55417514801027, + 8.236512117385864, + 13.96522568702701, + 5.942360367774975, + 8.234539861679078, + 2.2543523359298714, + 17.453549938201927, + 7.982983231544497, + 15.898130187988322, + 9.402296295166098, + 8.949505929946904, + 4.226198358535778, + 14.962960710525527, + 14.57084172248843, + 14.625373058319099, + 6.013969349861195, + 5.4794220590591625, + 10.347935905456579, + 5.26764120578766, + 10.179061422348079, + 6.238092122077947, + 7.020430264473043, + 3.1866604971885755, + 3.770074193477631, + 0.6054882127046602, + 0.7263608664274216, + 0.700611503124239, + 0.5491872864961627, + 0.17242057025432647, + 6.290011057853717, + 2.4562095761299263, + 9.65687702178966, + 8.304952526092602, + 4.307369556427036, + 9.409512376785333, + 7.49382076740267, + 1.5907363700866715, + 0.9445658874511791, + 1.2241237854957618, + 1.1719621944427543, + 2.122948689460761, + 0.6521690672636252, + 0.7865366864204432, + 0.10589396975934529, + 0.07110530525445945, + 0.11455559574067627, + 1.3001963698863999, + 3.2042417454719585, + 0.45288409471511976, + 0.9778823554515844, + 0.02993349624797761, + -0.15149244070053006, + -0.49051137149333907, + 0.999252438545227, + 0.9999999403953552, + 0.8634047335386278, + 0.999685640335083, + -0.22685929387807843, + -0.309104263186454, + 0.9996544575691223, + 0.9999979138374329, + 0.17652750805020384, + 0.895593707561493, + 0.7706910198927008, + 0.9999987727403641, + 0.9567055803537396, + 0.9999889135360718, + -0.11376315921544367, + 1.0, + 0.9999977350234985, + 0.2212583427131348, + 0.991390958428383, + 0.9999985694885254, + 0.9999992847442627, + 0.9999999403953552, + 0.9999999403953552, + 0.9753171360492712, + 0.9999999403953552, + 0.999998927116394, + 0.9999995827674866, + -0.6165595281124076, + 0.9999999403953552, + 0.9999995827674866, + 0.9999920970201492, + 1.0, + -0.006899203760548317, + 0.04293421719223389, + 1.0, + -0.663221374154088, + -0.41522841155528817, + 0.41796202242378455, + 0.8624063724279446, + 6.242812004089371, + 2.5792232155799892, + 2.499589638710028, + 1.4799019134044702, + 1.6613757395744342, + 0.007180696725845662, + 4.894673504829424, + 4.317032833099375, + 2.58889780044556, + 2.118543298244477, + 2.080801265239716, + 0.4989215606451085, + 3.8988842678070297, + 1.4071551191806797, + 0.7434257751703283, + 5.7984748744964625, + 0.8670989370346114, + 2.377220633029938, + 0.11470026701688836, + 1.6907682049274477, + 1.1749551296234138, + 1.5018732464313589, + 7.14444738864899, + 0.8800609093904603, + 0.43633753895759897, + 0.38164688259363233, + 0.19386876940727432, + 3.3682362174987914, + 0.9230010265111935, + 12.487460165023816, + 1.2488960933685336, + 0.70224486768247, + 3.3042692732811036, + 4.253281240463258, + 1.7415197122097044, + 0.9388186782598515, + 3.311010940074972, + 0.36234861612319996, + 4.587373909950258, + 0.34277729898691195, + 1.280624896287921, + 1.261455546617513, + 1.557088985443117 + ] + }, + "issued_command_chunk": { + "mean": [ + 0.7959898114204407, + 0.5228977203369141, + -2.428175687789917, + -0.309074729681015, + -0.3195468783378601, + -0.3192320466041565, + -2.301455020904541, + -2.4476866722106934, + -0.49558278918266296, + -0.03346357122063637, + -0.001685187453404069, + 0.9667679667472839, + -1.215242624282837, + 0.29551252722740173, + -0.028569087386131287, + -1.493161678314209, + 1.5362062454223633, + 0.2613345980644226, + 0.22364990413188934, + 2.4765260219573975, + 2.571157693862915, + -1.0225200653076172, + 2.0846688747406006, + 1.8540877103805542, + 1.9538458585739136, + 1.5714976787567139, + -1.4205882549285889, + -1.5688798427581787, + 1.5897024869918823, + 0.9853185415267944, + 1.0003451108932495, + 0.019797036424279213, + -0.07822708040475845, + -0.08779439330101013, + -0.034845586866140366, + -0.040097977966070175, + -1.0305582284927368, + -1.036097764968872, + -0.1483394056558609, + 0.013913169503211975, + 0.051525287330150604, + 0.04930776730179787, + 0.05270596966147423 + ], + "std": [ + 1.036950945854187, + 0.8438392877578735, + 0.5369921326637268, + 0.36739104986190796, + 0.8026944398880005, + 0.2249668687582016, + 0.5365131497383118, + 0.4322963356971741, + 0.1239250972867012, + 0.1464221030473709, + 0.2070380002260208, + 1.3576101064682007, + 1.8005298376083374, + 0.3465573191642761, + 0.44369906187057495, + 0.5179025530815125, + 0.2563841640949249, + 0.031248977407813072, + 0.08341854065656662, + 0.6562410593032837, + 0.4500460922718048, + 0.2731800675392151, + 0.16071636974811554, + 0.47569018602371216, + 0.2599450349807739, + 0.30979466438293457, + 0.5674522519111633, + 0.3182012140750885, + 0.23104844987392426, + 0.3276488482952118, + 0.2557191252708435, + 0.11622904241085052, + 0.19037115573883057, + 0.19998082518577576, + 0.12996840476989746, + 0.17227692902088165, + 0.1557493358850479, + 0.1528785675764084, + 0.2692328095436096, + 0.12015359103679657, + 0.13619183003902435, + 0.17271041870117188, + 0.21480974555015564 + ], + "min": [ + -2.5306999683380127, + -2.5306942462921143, + -2.618000030517578, + -0.5235999822616577, + -2.967097520828247, + -0.5199999809265137, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726699650287628, + -0.08726699650287628, + -3.089200019836426, + -3.089200019836426, + -0.8726699948310852, + -0.8726699948310852, + -1.5881999731063843, + -2.251499891281128, + -0.26179999113082886, + -0.26179999113082886, + -2.618000030517578, + -2.618000030517578, + -1.0471999645233154, + -1.046495795249939, + -1.9722199440002441, + -1.9722199440002441, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.0471999645233154, + -0.7243120074272156, + 0.0, + -1.5707999467849731, + -1.7444888353347778, + -1.5707999467849731, + -1.7453299760818481, + -1.0471999645233154, + -1.0471999645233154, + -1.7453076839447021, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 2.8797998428344727, + 2.8797945976257324, + 2.6179988384246826, + 2.967099905014038, + 0.5235999822616577, + 0.5199999809265137, + 2.0013227462768555, + 2.7323453426361084, + 0.5199999809265137, + 2.856868028640747, + 2.8797998428344727, + 2.6703999042510986, + 2.6703999042510986, + 0.5235999822616577, + 0.5235999822616577, + 2.251499891281128, + 1.5881999731063843, + 0.26179999113082886, + 0.26179999113082886, + 2.618000030517578, + 2.618000030517578, + 2.094399929046631, + 2.094399929046631, + 1.9722199440002441, + 1.9722199440002441, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.0471999645233154, + 1.0471999645233154, + 1.7453278303146362, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0471972227096558, + 0.7243120074272156, + 0.0, + 1.5707999467849731, + 1.7453299760818481, + 1.5707999467849731, + 1.7453299760818481 + ], + "q01": [ + -2.2431318759918213, + -2.2275888919830322, + -2.617999792098999, + -0.5235999822616577, + -2.8240888118743896, + -0.5199874639511108, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726691454648972, + -0.08726699650287628, + -2.8740804195404053, + -3.088956356048584, + -0.872017502784729, + -0.8712095618247986, + -1.5881999731063843, + 0.41434648633003235, + 0.2482401728630066, + -0.17439915239810944, + -2.3763270378112793, + 0.9237087565660478, + -1.0471999645233154, + 1.7061247825622559, + -1.1415928602218628, + 1.6603350639343262, + -0.11876842208206616, + -1.6144261360168457, + -1.6144295930862427, + 0.7907993793487549, + -1.0434150695800781, + -0.7000811100006104, + 7.802233312759199e-07, + -1.0570257902145386, + -1.1111327409744263, + -0.6695869565010071, + -0.8968654870986938, + -1.0471994876861572, + -1.0471999645233154, + -1.2922288179397583, + 5.149483399691235e-07, + 1.5604466341301304e-07, + 5.196297024667729e-06, + 1.0485681459613269e-05 + ], + "q99": [ + 2.8219339847564697, + 2.5108838081359863, + 0.5297284722328186, + 1.277254581451416, + 0.5230817198753357, + 0.4597421884536743, + -0.6499962866306066, + -0.7897148728370667, + 0.33223775029182434, + 0.5924091339111328, + 0.9083260297775269, + 2.6703968048095703, + 2.650707960128784, + 0.5230619561672212, + 0.5233774781227112, + 2.182425022125244, + 1.5881974697113037, + 0.26179999113082886, + 0.26179957389831543, + 2.617971181869507, + 2.6179981231689453, + 0.060908686369657516, + 2.094399929046631, + 1.9722199440002441, + 1.9722198247909546, + 1.6144264936447144, + 1.5651469230651855, + 0.34221699833869934, + 1.6144299507141113, + 1.0471988916397095, + 1.0471996068954468, + 0.3539747893810272, + -1.404404628146949e-07, + -8.842530974106921e-07, + -7.1156500780489296e-06, + -5.201488662009979e-08, + -0.3846815228462219, + -0.35126546025276184, + 0.0, + 0.3073590099811554, + 0.5300325751304626, + 1.1608226299285889, + 1.6748021841049194 + ] + } + } +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c9e9f42c5f893071ee70fcf945839612affd2414 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task": "Keep the G1 humanoid balanced on the support board.", "task_index": 0} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/task_contract.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..ebdabba02cd30dc8774e55a6b40c80a274243257 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/lerobot__val/task_contract.json @@ -0,0 +1,1760 @@ +{ + "format": "latency_bench_starvla_h8_v2", + "task": "humanoidbench_balance_simple", + "robot_type": "latency_balance_h8", + "state_dim": 198, + "action_dim": 43, + "action_horizon": 8, + "fps": 50.0, + "state_key": "observation.state", + "action_key": "issued_command_chunk", + "video_keys": [ + "video.ego_view" + ], + "auxiliary": { + "action_valid_mask": { + "shape": [ + 8 + ], + "column": "action_valid_mask" + } + }, + "normalization": { + "state": { + "mean": [ + -0.025635866448283195, + 0.01927330158650875, + 1.158280849456787, + 0.8420453071594238, + 0.09217120707035065, + -0.24410997331142426, + 0.43043604493141174, + 0.6107878684997559, + -0.36157432198524475, + -2.2956392765045166, + -0.020235884934663773, + 0.25374069809913635, + 0.23445872962474823, + 0.9837883710861206, + 0.019179554656147957, + -2.2150073051452637, + 0.02453281171619892, + 0.01515278872102499, + 0.11208437383174896, + -2.5039801597595215, + -0.3171134293079376, + -0.0686328336596489, + 0.7423364520072937, + -0.09060867875814438, + 2.3995463848114014, + -0.9610512852668762, + 1.831926941871643, + 1.5193060636520386, + -1.5542447566986084, + 0.9558709859848022, + 0.9690955281257629, + 0.04609622061252594, + -0.10769475251436234, + -0.11746398359537125, + -0.050113387405872345, + -0.06978099048137665, + -1.0273784399032593, + 0.12156488746404648, + 2.523613214492798, + 1.9652788639068604, + 1.8964390754699707, + -1.3841028213500977, + 1.5590707063674927, + -0.9584358334541321, + -0.9712133407592773, + -0.1826982945203781, + 0.08000596612691879, + 0.0818018838763237, + 0.03333243355154991, + 0.08844511955976486, + 0.03909463435411453, + -0.0020254473201930523, + 0.3669467270374298, + 0.8385100364685059, + -0.016125880181789398, + 0.054703421890735626, + -0.41709983348846436, + 0.00392829068005085, + 0.00045848003355786204, + -0.009230023249983788, + 0.03995200991630554, + -0.025031527504324913, + -0.05424543470144272, + 0.06451783329248428, + -0.032721634954214096, + -0.17672590911388397, + 0.047239143401384354, + -0.007737244013696909, + 0.0070444741286337376, + 0.06683658063411713, + -0.0391998291015625, + -0.1848878562450409, + 0.06604130566120148, + 0.04000888392329216, + -0.04563077911734581, + -0.06146590784192085, + 0.005553993862122297, + 0.003672658698633313, + 0.004579359199851751, + 0.01721019111573696, + 0.009838767349720001, + -0.0411921963095665, + 0.05534300580620766, + 0.021276449784636497, + -0.017730142921209335, + 0.01852448470890522, + 0.026192817836999893, + 0.017280517145991325, + -0.020997602492570877, + -0.011225354857742786, + -0.013926774263381958, + -0.04107198119163513, + -0.013462104834616184, + -0.03042677603662014, + 0.05716199427843094, + 0.1439625322818756, + 0.036779891699552536, + -0.02483469247817993, + 0.04702555388212204, + -0.053644128143787384, + -0.04921655356884003, + -0.008309480734169483, + 0.01952100731432438, + 0.04048770293593407, + 0.018233107402920723, + 0.019435837864875793, + 0.0031018215231597424, + -0.0024947302881628275, + -0.00115527817979455, + -0.0010873962892219424, + 0.016630934551358223, + -0.10641032457351685, + 0.22848373651504517, + -0.8768635392189026, + -0.8304542899131775, + -0.9615831971168518, + 0.670092761516571, + 0.9886237382888794, + 0.12885665893554688, + 0.5178567171096802, + -0.8841050267219543, + -0.9407947659492493, + 0.21028102934360504, + 0.8530989289283752, + -0.9250379800796509, + -0.6095163822174072, + -0.9497316479682922, + 0.40414535999298096, + -0.9537464380264282, + 0.9410228729248047, + -0.9798156023025513, + 0.9365619421005249, + 0.9648406505584717, + -0.9663228392601013, + -0.3515448272228241, + 0.9753411412239075, + 0.9784616827964783, + 0.9814562797546387, + 0.9856275916099548, + -0.8747818470001221, + 0.9767156839370728, + 0.933849036693573, + 0.9374470710754395, + -0.9782372117042542, + 0.902039647102356, + 0.9001173377037048, + 0.9564682245254517, + 0.9555589556694031, + -0.9748904705047607, + -0.9779942035675049, + 0.8307808041572571, + -0.983437180519104, + -0.9420256614685059, + -0.9381495714187622, + -0.941119909286499, + 0.0023598656989634037, + -0.0006919423467479646, + -0.005112492013722658, + -0.0024081734009087086, + 0.0010813764529302716, + 0.00024064548779278994, + 0.000810829340480268, + -0.0005454471101984382, + -0.004711040761321783, + -0.002072703093290329, + 0.0010424338979646564, + 0.0005085889715701342, + -0.0023964685387909412, + -0.0008362433291040361, + -0.000606008165050298, + -0.0006688470020890236, + -0.0009728798759169877, + 0.00048423290718346834, + -0.0006415388197638094, + 0.0017771177226677537, + 0.00025553774321451783, + -0.00023540231632068753, + 0.0015673300949856639, + 0.002228525932878256, + 0.0014416706981137395, + 0.003562557976692915, + 0.0007267582695931196, + 4.854144572163932e-05, + 0.0022943762596696615, + 0.010386521928012371, + 0.002200278453528881, + 0.002316048601642251, + -0.003583162324503064, + -0.0007797399302944541, + -0.002008962444961071, + -0.0043142870999872684, + -0.01754925772547722, + -0.004589166026562452, + -0.00024148709781002253, + 0.003161373781040311, + 0.0026675332337617874, + 0.0019355244003236294, + 0.0044266218319535255 + ], + "std": [ + 0.042112722992897034, + 0.04505845904350281, + 0.019536972045898438, + 0.07037361711263657, + 0.05006727576255798, + 0.06939660757780075, + 0.15914051234722137, + 0.24234844744205475, + 0.09416885673999786, + 0.4407274127006531, + 0.10750807076692581, + 0.2626357674598694, + 0.054102811962366104, + 0.1717834770679474, + 0.13306479156017303, + 0.31821396946907043, + 0.16464810073375702, + 0.21407298743724823, + 0.11660125851631165, + 0.2629775404930115, + 0.1486019492149353, + 0.1976539045572281, + 0.5837306976318359, + 0.2469710409641266, + 0.530748188495636, + 0.2427956759929657, + 0.403916597366333, + 0.26059386134147644, + 0.22713233530521393, + 0.265508770942688, + 0.21963919699192047, + 0.0628613755106926, + 0.0950002521276474, + 0.09448856860399246, + 0.07075409591197968, + 0.09169046580791473, + 0.5220157504081726, + 0.07202603667974472, + 0.3999297320842743, + 0.20574519038200378, + 0.19621407985687256, + 0.4773261845111847, + 0.2585694491863251, + 0.14672568440437317, + 0.13609391450881958, + 0.1633865088224411, + 0.09336462616920471, + 0.13303150236606598, + 0.05337560549378395, + 0.059572525322437286, + 0.02921689674258232, + 0.037889618426561356, + 0.008081012405455112, + 0.1846792846918106, + 0.07211615145206451, + 0.06876874715089798, + 0.2750396430492401, + 0.18587853014469147, + 0.17891716957092285, + 0.18672071397304535, + 1.555896282196045, + 5.3200483322143555, + 2.9803826808929443, + 7.118279933929443, + 2.486052989959717, + 4.213277339935303, + 2.543344736099243, + 2.710487127304077, + 0.8883762955665588, + 6.316850662231445, + 3.336742639541626, + 4.776673793792725, + 2.6288328170776367, + 3.3566219806671143, + 1.661218523979187, + 3.915306568145752, + 4.724218368530273, + 4.932797908782959, + 2.136909008026123, + 1.6207040548324585, + 3.136301040649414, + 1.8850123882293701, + 2.979745626449585, + 1.7939871549606323, + 2.02539324760437, + 0.7491763234138489, + 0.7111855149269104, + 0.29316428303718567, + 0.41018393635749817, + 0.3058367967605591, + 0.293786883354187, + 0.44259271025657654, + 2.1374950408935547, + 0.9072792530059814, + 3.2727808952331543, + 2.3367841243743896, + 1.8729904890060425, + 2.61806058883667, + 2.2839386463165283, + 0.6254268884658813, + 0.55152428150177, + 0.46350836753845215, + 0.37798768281936646, + 0.4729953408241272, + 0.34176337718963623, + 0.3214370310306549, + 0.034481629729270935, + 0.03000626154243946, + 0.04121607914566994, + 0.46426302194595337, + 1.1549947261810303, + 0.20645256340503693, + 0.38286176323890686, + 0.21024583280086517, + 0.20109017193317413, + 0.11110064387321472, + 0.4993017911911011, + 0.12664839625358582, + 0.3112102746963501, + 0.45958274602890015, + 0.16487054526805878, + 0.1420261263847351, + 0.6352242827415466, + 0.3210887908935547, + 0.20551876723766327, + 0.4381053149700165, + 0.2540793716907501, + 0.4756494462490082, + 0.26818791031837463, + 0.2554219961166382, + 0.17210182547569275, + 0.2409321665763855, + 0.20948675274848938, + 0.19888614118099213, + 0.6238135099411011, + 0.13524000346660614, + 0.1719372719526291, + 0.14497122168540955, + 0.1304759383201599, + 0.35568591952323914, + 0.16346675157546997, + 0.3173375725746155, + 0.301760196685791, + 0.1277649998664856, + 0.23771989345550537, + 0.2279687523841858, + 0.1627088338136673, + 0.19090504944324493, + 0.1758655607700348, + 0.17635686695575714, + 0.3079434037208557, + 0.1469896137714386, + 0.15143197774887085, + 0.2174496352672577, + 0.24153263866901398, + 2.5400702953338623, + 0.7784927487373352, + 0.8014529943466187, + 0.49186092615127563, + 0.4644414186477661, + 0.032917048782110214, + 1.672908067703247, + 1.714320182800293, + 0.8200381398200989, + 0.6402446031570435, + 0.7721521258354187, + 0.12834757566452026, + 1.0096720457077026, + 0.4962703287601471, + 0.186701238155365, + 2.2119836807250977, + 0.4018729329109192, + 0.671302855014801, + 0.18353480100631714, + 0.47255533933639526, + 0.47546252608299255, + 0.5766538977622986, + 3.2763562202453613, + 0.3428060710430145, + 0.31066659092903137, + 0.2688332200050354, + 0.2205354869365692, + 0.8406859040260315, + 0.5111684203147888, + 3.486008644104004, + 0.5192767977714539, + 0.3546893298625946, + 0.8580999970436096, + 1.084633231163025, + 0.550735592842102, + 0.37371575832366943, + 2.1564550399780273, + 0.438833624124527, + 1.229128122329712, + 0.2862628102302551, + 0.456217497587204, + 0.4220508337020874, + 0.5346795320510864 + ], + "min": [ + -0.7738266587257385, + -0.7785519957542419, + 0.8047138452529907, + 0.362972617149353, + -0.39202219247817993, + -0.4537297189235687, + -0.6713520288467407, + -2.588404893875122, + -0.6120349764823914, + -2.8275368213653564, + -0.15372222661972046, + -0.951376736164093, + -0.2964325249195099, + -0.5498606562614441, + -1.340929388999939, + -2.8312742710113525, + -0.14424635469913483, + -0.9635779857635498, + -0.3421826958656311, + -2.713390350341797, + -0.8166407942771912, + -0.7465353012084961, + -2.435533046722412, + -0.34453630447387695, + -2.7231476306915283, + -1.1035892963409424, + -2.030799627304077, + -1.7918709516525269, + -1.6800199747085571, + -1.0816969871520996, + -0.7855164408683777, + -0.0179448239505291, + -1.310250997543335, + -0.6712160706520081, + -1.6470437049865723, + -1.6693241596221924, + -3.1658830642700195, + -2.3178460597991943, + -2.742156744003296, + -0.35477113723754883, + -2.047354221343994, + -1.6716742515563965, + -1.7795490026474, + -1.0988768339157104, + -1.0807112455368042, + -1.359919548034668, + -0.08745958656072617, + -0.10996361821889877, + -0.06902205944061279, + -0.03577714413404465, + -0.10725100338459015, + -0.16500449180603027, + 0.23212723433971405, + -0.15850719809532166, + -0.3389427661895752, + -0.48557326197624207, + -0.9999662041664124, + -2.193283796310425, + -2.005195140838623, + -2.9684982299804688, + -14.704641342163086, + -35.7442741394043, + -27.823253631591797, + -42.56782913208008, + -17.66596794128418, + -28.55613136291504, + -18.625905990600586, + -16.490507125854492, + -10.852964401245117, + -42.668060302734375, + -25.953622817993164, + -35.95486068725586, + -15.408480644226074, + -18.612506866455078, + -15.283103942871094, + -26.06655502319336, + -42.76798629760742, + -36.13262176513672, + -44.69192123413086, + -33.59485626220703, + -50.01041030883789, + -23.964738845825195, + -40.4901237487793, + -40.53788757324219, + -34.724002838134766, + -11.396271705627441, + -7.337916851043701, + -15.102253913879395, + -7.832427024841309, + -6.652492046356201, + -14.993180274963379, + -7.22700834274292, + -28.398658752441406, + -29.543663024902344, + -54.26047134399414, + -26.262248992919922, + -42.363643646240234, + -29.495105743408203, + -32.66628646850586, + -13.511029243469238, + -6.207447528839111, + -7.135590076446533, + -13.95861530303955, + -15.821308135986328, + -9.488734245300293, + -4.1378703117370605, + -0.5477244257926941, + -0.4000769257545471, + -1.1597175598144531, + -3.9295666217803955, + -10.370935440063477, + -2.286783218383789, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999978542327881, + -0.9999985694885254, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -0.9999999403953552, + -1.0, + -0.9995517134666443, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999999403953552, + -1.0, + -1.0114316940307617, + -0.9999999403953552, + -0.9990360736846924, + -0.999999463558197, + -1.0, + -0.9999999403953552, + -0.9999999403953552, + -0.9999744296073914, + -1.0126216411590576, + -1.0111839771270752, + -1.0120774507522583, + -1.0110723972320557, + -8.430097579956055, + -5.3019328117370605, + -7.265376091003418, + -7.152298927307129, + -2.3262784481048584, + -0.8691455125808716, + -8.419623374938965, + -5.453756332397461, + -8.519572257995605, + -7.417658805847168, + -2.3270232677459717, + -0.8725661039352417, + -8.12804889678955, + -1.7331101894378662, + -1.7331427335739136, + -7.758448123931885, + -5.18779182434082, + -7.035597801208496, + -4.171591281890869, + -5.295297145843506, + -7.329815864562988, + -7.226667404174805, + -7.7832183837890625, + -5.068985462188721, + -6.892783164978027, + -4.231439590454102, + -5.301170825958252, + -7.298786640167236, + -7.309111595153809, + -33.23622131347656, + -7.354803562164307, + -7.201472282409668, + -6.52398157119751, + -7.268587112426758, + -6.479650497436523, + -7.1601948738098145, + -33.16163635253906, + -7.369842529296875, + -7.256917953491211, + -6.44058895111084, + -7.232071399688721, + -6.4535651206970215, + -7.268499851226807 + ], + "max": [ + 0.7968977093696594, + 0.870449423789978, + 1.229228138923645, + 1.0098098516464233, + 0.6281046271324158, + 0.39047771692276, + 0.923689067363739, + 1.836792230606079, + 2.0094845294952393, + 0.5146425366401672, + 1.4299334287643433, + 0.5824787020683289, + 0.3080555200576782, + 1.6928329467773438, + 0.5641255974769592, + 0.574910044670105, + 1.4619487524032593, + 0.6180336475372314, + 0.34059756994247437, + 2.4387600421905518, + 0.7753986716270447, + 0.7548295855522156, + 2.7448768615722656, + 2.3413729667663574, + 2.7124242782592773, + 2.1763126850128174, + 2.0307083129882812, + 1.6608844995498657, + 1.6788032054901123, + 1.073332667350769, + 1.119672179222107, + 1.679815649986267, + 0.011416724883019924, + 0.009885883890092373, + 0.02091214619576931, + 0.039391230791807175, + 2.727888345718384, + 0.26414886116981506, + 2.6918773651123047, + 2.2842133045196533, + 2.0473055839538574, + 1.5992213487625122, + 1.6813691854476929, + 0.8559478521347046, + 0.7673411965370178, + 0.03894615173339844, + 1.5175704956054688, + 1.6913440227508545, + 1.3367129564285278, + 1.5084949731826782, + 0.20506694912910461, + 0.13876301050186157, + 0.44932129979133606, + 1.0099109411239624, + 0.4113212823867798, + 0.5044006109237671, + 0.3132859766483307, + 2.2153871059417725, + 2.56866455078125, + 1.0874477624893188, + 14.026494979858398, + 35.87355422973633, + 17.435447692871094, + 58.214996337890625, + 29.348100662231445, + 57.18246841430664, + 33.059749603271484, + 18.34288787841797, + 7.586318016052246, + 34.77031707763672, + 19.13775062561035, + 67.23902130126953, + 32.8304557800293, + 21.35066032409668, + 10.259953498840332, + 45.49869155883789, + 44.741912841796875, + 34.25974655151367, + 24.135086059570312, + 39.48954391479492, + 32.37991714477539, + 37.02838897705078, + 39.16765594482422, + 23.350276947021484, + 34.67495346069336, + 10.13438606262207, + 17.02427101135254, + 7.182557106018066, + 7.1651740074157715, + 4.514240741729736, + 4.544272422790527, + 7.851586818695068, + 48.17836380004883, + 31.60976219177246, + 42.078590393066406, + 33.623600006103516, + 37.444969177246094, + 29.93386459350586, + 29.09025764465332, + 8.599141120910645, + 7.06635046005249, + 4.504329204559326, + 10.100205421447754, + 8.537747383117676, + 11.322017669677734, + 7.311582088470459, + 0.6016557216644287, + 0.46527227759361267, + 0.5248227715492249, + 2.5876312255859375, + 10.419828414916992, + 2.212495803833008, + 0.9999999403953552, + 0.9999999403953552, + 0.7197454571723938, + 0.9845423102378845, + 1.0, + 0.9999999403953552, + 0.9999979734420776, + 1.0, + 0.9772722721099854, + 0.9999998807907104, + 1.0, + 0.9999999403953552, + 0.9999749660491943, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 1.0, + 1.0, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999999403953552, + 0.9999960064888, + 1.012157678604126, + 1.0113283395767212, + 1.012593150138855, + 1.0112453699111938, + 0.9999973773956299, + 1.0, + 1.0114580392837524, + 0.9999999403953552, + 1.0, + 0.9999999403953552, + 1.0, + 8.45361614227295, + 5.409843444824219, + 7.038282871246338, + 7.3173346519470215, + 2.3257243633270264, + 0.8667038679122925, + 8.44979190826416, + 5.451396465301514, + 8.519572257995605, + 7.417666912078857, + 2.3254573345184326, + 0.8726640343666077, + 8.152491569519043, + 1.7332524061203003, + 1.7332826852798462, + 7.769432544708252, + 5.186692237854004, + 7.037702560424805, + 4.192294597625732, + 5.315018177032471, + 7.3286871910095215, + 7.305862903594971, + 7.78147554397583, + 5.187367916107178, + 6.911520481109619, + 4.21911096572876, + 5.290048599243164, + 7.284864902496338, + 7.319306373596191, + 33.33893585205078, + 7.366163730621338, + 7.271250247955322, + 6.540618419647217, + 7.163774013519287, + 6.516909599304199, + 7.196773529052734, + 33.23482894897461, + 7.359347820281982, + 7.252593517303467, + 6.366456985473633, + 7.220841884613037, + 6.449306488037109, + 7.263980865478516 + ], + "q01": [ + -0.1059706213325262, + -0.07322555936872958, + 1.1191173350811006, + 0.679385877251625, + -0.05206550966948271, + -0.35795281201601026, + -0.08105819717049596, + -0.25318225383758547, + -0.5263099247217178, + -2.7669665670394896, + -0.11667746432125568, + -0.7876168000698089, + -0.0008873671980109036, + 0.33318756997585297, + -0.4220974364876747, + -2.662647726535797, + -0.11147875376045704, + -0.5916734951734542, + -0.20154005140066147, + -2.642390201091766, + -0.5618392062187195, + -0.5271266180276871, + -0.43109364449977877, + -0.16410637736320496, + -0.00411854862235486, + -1.0625595700740815, + -0.09667239397764205, + 0.05577524997293949, + -1.6242454898357392, + -0.7248384058475494, + -0.34849473297595973, + 0.00018596773967146876, + -0.43447673320770264, + -0.4286180371046066, + -0.3288959085941315, + -0.26685177862644194, + -2.30307772397995, + -0.0015493131114635616, + 0.5286150228977203, + 0.991684068441391, + 1.1977828991413118, + -1.5713980436325072, + -0.007980468249879758, + -1.0198148810863494, + -1.0295359873771668, + -0.7010014879703522, + 1.1075910788349652e-05, + 3.796641805820402e-05, + -0.002652675125282258, + -0.0010495421348605304, + -0.014294282812625169, + -0.11820460259914398, + 0.34134758174419405, + 0.20981739565730095, + -0.1971270127594471, + -0.13211995631456375, + -0.96634621322155, + -0.5830292177200317, + -0.5944135797023773, + -0.5089943653345108, + -4.85288281917572, + -14.490709724426269, + -10.098205661773681, + -21.738415946960448, + -5.759124341011047, + -11.309423122406006, + -6.130308876037597, + -8.635315618515014, + -3.492782576084137, + -19.632789764404297, + -9.502745084762573, + -13.089497938156128, + -6.5785646152496335, + -9.744095964431763, + -5.848969163894653, + -11.457807102203368, + -14.555512323379515, + -12.21583477973938, + -6.847887320518494, + -4.45504744529724, + -11.898847789764405, + -6.687501616477967, + -11.476853771209717, + -5.3720994520187375, + -5.606906313896179, + -2.9537126946449277, + -2.2314684891700742, + -0.1491223007440567, + -1.4774546134471893, + -1.3940702176094055, + -0.9739846348762512, + -1.291306787729263, + -5.549564499855041, + -2.6417897081375123, + -5.568620076179504, + -5.234816064834595, + -3.056585736274719, + -9.270711669921875, + -6.528039121627807, + -3.5535058283805845, + -2.921538321971893, + -1.7942139887809754, + -0.5378423488140106, + -0.5881971716880798, + -0.31669264793395996, + -0.3238345617055893, + -0.09781760431826114, + -0.08309621661901474, + -0.11961487255990505, + -1.2058235335350036, + -3.209835648536682, + -0.6531460767984391, + -0.8885819673538208, + -1.0, + -1.0, + -0.9999999403953552, + -0.999003005027771, + 0.855252537727356, + -0.8852700787782669, + -0.9166188633441925, + -1.0, + -1.0, + -0.9978427135944367, + -0.6654279839992523, + -0.9999999403953552, + -0.9999729990959167, + -0.9999999403953552, + -0.9446608954668045, + -1.0, + -0.8733636730909348, + -1.0, + -0.5451807975769043, + -0.40755178332328795, + -0.9999997615814209, + -0.99991450548172, + 0.3189322656393051, + 0.2106913384795189, + 0.5466383516788483, + 0.7209190905094147, + -0.999997615814209, + 0.12745489791035658, + -0.9957364398241043, + -0.9848149216175079, + -0.9999992251396179, + -0.3119019436836242, + -0.2659728002548218, + 0.1642169997096062, + 0.0744642719626427, + -0.9999995231628418, + -0.9999999403953552, + -0.4796603178977966, + -0.9999997615814209, + -0.9999998807907104, + -0.9999967813491821, + -0.9999895095825195, + -5.832029194831848, + -2.636004958152771, + -2.583317222595215, + -1.54387482047081, + -1.597993677854538, + -0.00614931474905461, + -4.833893523216248, + -4.617929921150208, + -2.792983295917511, + -2.179419994354248, + -2.006844639778137, + -0.48490141987800595, + -3.8291208148002625, + -1.448185453414917, + -0.7589150667190552, + -5.719259076118469, + -0.9310647708177566, + -2.264724147319794, + -0.13117926448583603, + -1.646157112121582, + -1.1265769875049592, + -1.6594666540622711, + -7.088815479278565, + -0.7691190069913864, + -0.2737095314264297, + -0.32931179583072656, + -0.15996514678001403, + -3.3343448400497437, + -0.9833947724103927, + -12.1713152885437, + -1.241129493713379, + -0.6350447344779968, + -3.2221831035614015, + -4.0617134523391725, + -1.7525894010066985, + -1.0127829885482789, + -3.0726055645942685, + -0.5974031031131745, + -4.287043795585633, + -0.2522341841459274, + -1.2900772082805634, + -1.2486091482639312, + -1.4184790468215942 + ], + "q99": [ + 0.06062360130250495, + 0.08243259660899654, + 1.1935316359996797, + 0.9728069055080414, + 0.20790142372250559, + 0.007750333189033274, + 0.6821181941032416, + 0.9513507276773456, + -0.09067748270928817, + -0.902319039702413, + 0.49768854349851616, + 0.5371600770950318, + 0.27154604882001876, + 1.289898544549942, + 0.2552683055400851, + -1.1463078105449664, + 0.6094013017416001, + 0.4218133381009103, + 0.28174529552459715, + -1.3726214444637286, + 0.1816208744049085, + 0.4598455840349198, + 2.5422073483467105, + 1.645369020700457, + 2.6346838092803955, + 0.33028176426887634, + 1.9819732010364532, + 1.5883679223060607, + -0.2294815745949706, + 1.0474071991443634, + 1.0392625606060029, + 0.18259331449866378, + 0.0008039873669622509, + 0.0001011923354235485, + 0.0008182003005640603, + 8.414156654907873e-05, + 0.6845527529716505, + 0.1803370334208012, + 2.6385832738876345, + 2.1060218954086305, + 1.9819671821594238, + 1.1616523754596713, + 1.62172682762146, + -0.0006095676322000919, + -0.126132032126186, + 2.802880368108393e-05, + 0.3549252647161509, + 0.6623439753055622, + 0.17717068240046605, + 0.221679810881615, + 0.10683171056210995, + 0.06169814217835665, + 0.38602128446102146, + 0.9971175634860993, + 0.14167719855904579, + 0.21745531603693982, + 0.007019931268878344, + 0.5782898801565174, + 0.4393210509419453, + 0.41138115823268906, + 4.255398073196416, + 16.494801807403615, + 7.70051992416383, + 18.55417514801027, + 8.236512117385864, + 13.96522568702701, + 5.942360367774975, + 8.234539861679078, + 2.2543523359298714, + 17.453549938201927, + 7.982983231544497, + 15.898130187988322, + 9.402296295166098, + 8.949505929946904, + 4.226198358535778, + 14.962960710525527, + 14.57084172248843, + 14.625373058319099, + 6.013969349861195, + 5.4794220590591625, + 10.347935905456579, + 5.26764120578766, + 10.179061422348079, + 6.238092122077947, + 7.020430264473043, + 3.1866604971885755, + 3.770074193477631, + 0.6054882127046602, + 0.7263608664274216, + 0.700611503124239, + 0.5491872864961627, + 0.17242057025432647, + 6.290011057853717, + 2.4562095761299263, + 9.65687702178966, + 8.304952526092602, + 4.307369556427036, + 9.409512376785333, + 7.49382076740267, + 1.5907363700866715, + 0.9445658874511791, + 1.2241237854957618, + 1.1719621944427543, + 2.122948689460761, + 0.6521690672636252, + 0.7865366864204432, + 0.10589396975934529, + 0.07110530525445945, + 0.11455559574067627, + 1.3001963698863999, + 3.2042417454719585, + 0.45288409471511976, + 0.9778823554515844, + 0.02993349624797761, + -0.15149244070053006, + -0.49051137149333907, + 0.999252438545227, + 0.9999999403953552, + 0.8634047335386278, + 0.999685640335083, + -0.22685929387807843, + -0.309104263186454, + 0.9996544575691223, + 0.9999979138374329, + 0.17652750805020384, + 0.895593707561493, + 0.7706910198927008, + 0.9999987727403641, + 0.9567055803537396, + 0.9999889135360718, + -0.11376315921544367, + 1.0, + 0.9999977350234985, + 0.2212583427131348, + 0.991390958428383, + 0.9999985694885254, + 0.9999992847442627, + 0.9999999403953552, + 0.9999999403953552, + 0.9753171360492712, + 0.9999999403953552, + 0.999998927116394, + 0.9999995827674866, + -0.6165595281124076, + 0.9999999403953552, + 0.9999995827674866, + 0.9999920970201492, + 1.0, + -0.006899203760548317, + 0.04293421719223389, + 1.0, + -0.663221374154088, + -0.41522841155528817, + 0.41796202242378455, + 0.8624063724279446, + 6.242812004089371, + 2.5792232155799892, + 2.499589638710028, + 1.4799019134044702, + 1.6613757395744342, + 0.007180696725845662, + 4.894673504829424, + 4.317032833099375, + 2.58889780044556, + 2.118543298244477, + 2.080801265239716, + 0.4989215606451085, + 3.8988842678070297, + 1.4071551191806797, + 0.7434257751703283, + 5.7984748744964625, + 0.8670989370346114, + 2.377220633029938, + 0.11470026701688836, + 1.6907682049274477, + 1.1749551296234138, + 1.5018732464313589, + 7.14444738864899, + 0.8800609093904603, + 0.43633753895759897, + 0.38164688259363233, + 0.19386876940727432, + 3.3682362174987914, + 0.9230010265111935, + 12.487460165023816, + 1.2488960933685336, + 0.70224486768247, + 3.3042692732811036, + 4.253281240463258, + 1.7415197122097044, + 0.9388186782598515, + 3.311010940074972, + 0.36234861612319996, + 4.587373909950258, + 0.34277729898691195, + 1.280624896287921, + 1.261455546617513, + 1.557088985443117 + ] + }, + "action": { + "mean": [ + 0.7959898114204407, + 0.5228977203369141, + -2.428175687789917, + -0.309074729681015, + -0.3195468783378601, + -0.3192320466041565, + -2.301455020904541, + -2.4476866722106934, + -0.49558278918266296, + -0.03346357122063637, + -0.001685187453404069, + 0.9667679667472839, + -1.215242624282837, + 0.29551252722740173, + -0.028569087386131287, + -1.493161678314209, + 1.5362062454223633, + 0.2613345980644226, + 0.22364990413188934, + 2.4765260219573975, + 2.571157693862915, + -1.0225200653076172, + 2.0846688747406006, + 1.8540877103805542, + 1.9538458585739136, + 1.5714976787567139, + -1.4205882549285889, + -1.5688798427581787, + 1.5897024869918823, + 0.9853185415267944, + 1.0003451108932495, + 0.019797036424279213, + -0.07822708040475845, + -0.08779439330101013, + -0.034845586866140366, + -0.040097977966070175, + -1.0305582284927368, + -1.036097764968872, + -0.1483394056558609, + 0.013913169503211975, + 0.051525287330150604, + 0.04930776730179787, + 0.05270596966147423 + ], + "std": [ + 1.036950945854187, + 0.8438392877578735, + 0.5369921326637268, + 0.36739104986190796, + 0.8026944398880005, + 0.2249668687582016, + 0.5365131497383118, + 0.4322963356971741, + 0.1239250972867012, + 0.1464221030473709, + 0.2070380002260208, + 1.3576101064682007, + 1.8005298376083374, + 0.3465573191642761, + 0.44369906187057495, + 0.5179025530815125, + 0.2563841640949249, + 0.031248977407813072, + 0.08341854065656662, + 0.6562410593032837, + 0.4500460922718048, + 0.2731800675392151, + 0.16071636974811554, + 0.47569018602371216, + 0.2599450349807739, + 0.30979466438293457, + 0.5674522519111633, + 0.3182012140750885, + 0.23104844987392426, + 0.3276488482952118, + 0.2557191252708435, + 0.11622904241085052, + 0.19037115573883057, + 0.19998082518577576, + 0.12996840476989746, + 0.17227692902088165, + 0.1557493358850479, + 0.1528785675764084, + 0.2692328095436096, + 0.12015359103679657, + 0.13619183003902435, + 0.17271041870117188, + 0.21480974555015564 + ], + "min": [ + -2.5306999683380127, + -2.5306942462921143, + -2.618000030517578, + -0.5235999822616577, + -2.967097520828247, + -0.5199999809265137, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726699650287628, + -0.08726699650287628, + -3.089200019836426, + -3.089200019836426, + -0.8726699948310852, + -0.8726699948310852, + -1.5881999731063843, + -2.251499891281128, + -0.26179999113082886, + -0.26179999113082886, + -2.618000030517578, + -2.618000030517578, + -1.0471999645233154, + -1.046495795249939, + -1.9722199440002441, + -1.9722199440002441, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.6144299507141113, + -1.0471999645233154, + -0.7243120074272156, + 0.0, + -1.5707999467849731, + -1.7444888353347778, + -1.5707999467849731, + -1.7453299760818481, + -1.0471999645233154, + -1.0471999645233154, + -1.7453076839447021, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 2.8797998428344727, + 2.8797945976257324, + 2.6179988384246826, + 2.967099905014038, + 0.5235999822616577, + 0.5199999809265137, + 2.0013227462768555, + 2.7323453426361084, + 0.5199999809265137, + 2.856868028640747, + 2.8797998428344727, + 2.6703999042510986, + 2.6703999042510986, + 0.5235999822616577, + 0.5235999822616577, + 2.251499891281128, + 1.5881999731063843, + 0.26179999113082886, + 0.26179999113082886, + 2.618000030517578, + 2.618000030517578, + 2.094399929046631, + 2.094399929046631, + 1.9722199440002441, + 1.9722199440002441, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.6144299507141113, + 1.0471999645233154, + 1.0471999645233154, + 1.7453278303146362, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0471972227096558, + 0.7243120074272156, + 0.0, + 1.5707999467849731, + 1.7453299760818481, + 1.5707999467849731, + 1.7453299760818481 + ], + "q01": [ + -2.2431318759918213, + -2.2275888919830322, + -2.617999792098999, + -0.5235999822616577, + -2.8240888118743896, + -0.5199874639511108, + -2.7576000690460205, + -2.7576000690460205, + -0.5199999809265137, + -0.08726691454648972, + -0.08726699650287628, + -2.8740804195404053, + -3.088956356048584, + -0.872017502784729, + -0.8712095618247986, + -1.5881999731063843, + 0.41434648633003235, + 0.2482401728630066, + -0.17439915239810944, + -2.3763270378112793, + 0.9237087565660478, + -1.0471999645233154, + 1.7061247825622559, + -1.1415928602218628, + 1.6603350639343262, + -0.11876842208206616, + -1.6144261360168457, + -1.6144295930862427, + 0.7907993793487549, + -1.0434150695800781, + -0.7000811100006104, + 7.802233312759199e-07, + -1.0570257902145386, + -1.1111327409744263, + -0.6695869565010071, + -0.8968654870986938, + -1.0471994876861572, + -1.0471999645233154, + -1.2922288179397583, + 5.149483399691235e-07, + 1.5604466341301304e-07, + 5.196297024667729e-06, + 1.0485681459613269e-05 + ], + "q99": [ + 2.8219339847564697, + 2.5108838081359863, + 0.5297284722328186, + 1.277254581451416, + 0.5230817198753357, + 0.4597421884536743, + -0.6499962866306066, + -0.7897148728370667, + 0.33223775029182434, + 0.5924091339111328, + 0.9083260297775269, + 2.6703968048095703, + 2.650707960128784, + 0.5230619561672212, + 0.5233774781227112, + 2.182425022125244, + 1.5881974697113037, + 0.26179999113082886, + 0.26179957389831543, + 2.617971181869507, + 2.6179981231689453, + 0.060908686369657516, + 2.094399929046631, + 1.9722199440002441, + 1.9722198247909546, + 1.6144264936447144, + 1.5651469230651855, + 0.34221699833869934, + 1.6144299507141113, + 1.0471988916397095, + 1.0471996068954468, + 0.3539747893810272, + -1.404404628146949e-07, + -8.842530974106921e-07, + -7.1156500780489296e-06, + -5.201488662009979e-08, + -0.3846815228462219, + -0.35126546025276184, + 0.0, + 0.3073590099811554, + 0.5300325751304626, + 1.1608226299285889, + 1.6748021841049194 + ] + } + }, + "label_provenance": { + "semantics": "expert_closed_loop_compacted_applied_actions_v3", + "condition": "zero-latency", + "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth", + "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml", + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + } + }, + "prompt": "Keep the G1 humanoid balanced on the support board.", + "state_labels": [ + "state_0", + "state_1", + "state_2", + "state_3", + "state_4", + "state_5", + "state_6", + "state_7", + "state_8", + "state_9", + "state_10", + "state_11", + "state_12", + "state_13", + "state_14", + "state_15", + "state_16", + "state_17", + "state_18", + "state_19", + "state_20", + "state_21", + "state_22", + "state_23", + "state_24", + "state_25", + "state_26", + "state_27", + "state_28", + "state_29", + "state_30", + "state_31", + "state_32", + "state_33", + "state_34", + "state_35", + "state_36", + "state_37", + "state_38", + "state_39", + "state_40", + "state_41", + "state_42", + "state_43", + "state_44", + "state_45", + "state_46", + "state_47", + "state_48", + "state_49", + "state_50", + "state_51", + "state_52", + "state_53", + "state_54", + "state_55", + "state_56", + "state_57", + "state_58", + "state_59", + "state_60", + "state_61", + "state_62", + "state_63", + "state_64", + "state_65", + "state_66", + "state_67", + "state_68", + "state_69", + "state_70", + "state_71", + "state_72", + "state_73", + "state_74", + "state_75", + "state_76", + "state_77", + "state_78", + "state_79", + "state_80", + "state_81", + "state_82", + "state_83", + "state_84", + "state_85", + "state_86", + "state_87", + "state_88", + "state_89", + "state_90", + "state_91", + "state_92", + "state_93", + "state_94", + "state_95", + "state_96", + "state_97", + "state_98", + "state_99", + "state_100", + "state_101", + "state_102", + "state_103", + "state_104", + "state_105", + "state_106", + "state_107", + "state_108", + "state_109", + "state_110", + "state_111", + "state_112", + "state_113", + "state_114", + "state_115", + "state_116", + "state_117", + "state_118", + "state_119", + "state_120", + "state_121", + "state_122", + "state_123", + "state_124", + "state_125", + "state_126", + "state_127", + "state_128", + "state_129", + "state_130", + "state_131", + "state_132", + "state_133", + "state_134", + "state_135", + "state_136", + "state_137", + "state_138", + "state_139", + "state_140", + "state_141", + "state_142", + "state_143", + "state_144", + "state_145", + "state_146", + "state_147", + "state_148", + "state_149", + "state_150", + "state_151", + "state_152", + "state_153", + "state_154", + "state_155", + "state_156", + "state_157", + "state_158", + "state_159", + "state_160", + "state_161", + "state_162", + "state_163", + "state_164", + "state_165", + "state_166", + "state_167", + "state_168", + "state_169", + "state_170", + "state_171", + "state_172", + "state_173", + "state_174", + "state_175", + "state_176", + "state_177", + "state_178", + "state_179", + "state_180", + "state_181", + "state_182", + "state_183", + "state_184", + "state_185", + "state_186", + "state_187", + "state_188", + "state_189", + "state_190", + "state_191", + "state_192", + "state_193", + "state_194", + "state_195", + "state_196", + "state_197" + ], + "action_labels": [ + "left_hip_pitch_joint", + "right_hip_pitch_joint", + "waist_yaw_joint", + "left_hip_roll_joint", + "right_hip_roll_joint", + "waist_roll_joint", + "left_hip_yaw_joint", + "right_hip_yaw_joint", + "waist_pitch_joint", + "left_knee_joint", + "right_knee_joint", + "left_shoulder_pitch_joint", + "right_shoulder_pitch_joint", + "left_ankle_pitch_joint", + "right_ankle_pitch_joint", + "left_shoulder_roll_joint", + "right_shoulder_roll_joint", + "left_ankle_roll_joint", + "right_ankle_roll_joint", + "left_shoulder_yaw_joint", + "right_shoulder_yaw_joint", + "left_elbow_joint", + "right_elbow_joint", + "left_wrist_roll_joint", + "right_wrist_roll_joint", + "left_wrist_pitch_joint", + "right_wrist_pitch_joint", + "left_wrist_yaw_joint", + "right_wrist_yaw_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_index_0_joint", + "left_hand_index_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint" + ] +} diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/provenance.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..29ed5425cff50e7bb0dc4d88c1323b446dcc8dc1 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5/provenance.json @@ -0,0 +1,368 @@ +{ + "teacher": { + "source": "local_override", + "filename": "checkpoint.pth" + }, + "label_provenance": { + "semantics": "expert_closed_loop_compacted_applied_actions_v3", + "condition": "zero-latency", + "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth", + "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml", + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + } + }, + "teacher_raw_frames": 78202, + "attempted_rows": 78202, + "valid_rows": 78202, + "filtered_rows": 0, + "valid_head_counts": [ + 78202, + 78102, + 78002, + 77902, + 77802, + 77702, + 77602, + 77502 + ], + "teacher_config": { + "experiment": { + "name": "balance-qwenoft-h8-replay6553600-25m-20260914T162609Z-zero-rl", + "seed": 1 + }, + "backend": { + "type": "sample_factory", + "algo": "FAST_TD3", + "device": "gpu", + "train_dir": "/pfs/users/lxy/latency-sensitive-bench/outputs/tasks/humanoidbench_balance_simple/local_h8/closed_loop_h8_replay6553600/formal/rl_checkpoints", + "restart_behavior": "overwrite", + "run_mode": "train", + "actor_worker_gpus": [], + "extra_args": [ + "--wandb_user=saberrr-zju" + ] + }, + "executor": { + "mode": "simulated", + "simulated_worker_capacity": 1 + }, + "env": { + "name": "gymnasium", + "task_name": "g1_sonic_balance_simple", + "env_id": "LatencyBench/G1SonicBalanceSimple-v0", + "registration_imports": [ + "latency_bench.envs.humanoidbench_sonic" + ], + "make_kwargs": { + "render_mode": null, + "width": 256, + "height": 256, + "scene_path": "./results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml", + "control_mode": "raw_body_target", + "raw_learn_hands": true + }, + "env_fps": 50, + "obs_fps": 50, + "frame_stack": 1, + "action_space": { + "type": "box", + "labels": [ + "body_0", + "body_1", + "body_2", + "body_3", + "body_4", + "body_5", + "body_6", + "body_7", + "body_8", + "body_9", + "body_10", + "body_11", + "body_12", + "body_13", + "body_14", + "body_15", + "body_16", + "body_17", + "body_18", + "body_19", + "body_20", + "body_21", + "body_22", + "body_23", + "body_24", + "body_25", + "body_26", + "body_27", + "body_28", + "hand_0", + "hand_1", + "hand_2", + "hand_3", + "hand_4", + "hand_5", + "hand_6", + "hand_7", + "hand_8", + "hand_9", + "hand_10", + "hand_11", + "hand_12", + "hand_13" + ], + "low": [ + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0 + ], + "high": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "dtype": "float32" + }, + "noop_action": [ + -0.312, + -0.312, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.669, + 0.669, + 0.2, + 0.0, + -0.363, + -0.363, + 0.2, + 0.2, + 0.0, + 0.0, + 0.0, + -0.2, + 0.6, + 0.0, + 0.0, + 0.6, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "base_prompt": "Keep the G1 humanoid balanced on the support board." + }, + "latency": { + "method": "zero", + "add_latency_info": false, + "seed": 1 + }, + "scheduler": { + "hold_policy": "hold", + "ordering_policy": "latest_ready", + "hold_last_chunk_action": true + }, + "policy": { + "type": "random" + }, + "training": { + "train_for_env_steps": 25000000, + "num_workers": 128, + "num_envs_per_worker": 1, + "worker_num_splits": 1, + "num_policies": 1, + "batch_size": 128, + "rollout": 1, + "recurrence": 1, + "num_epochs": 1, + "num_batches_per_epoch": 1, + "max_policy_lag": 300, + "learning_rate": 0.0003, + "gamma": 0.99, + "gae_lambda": 0.95, + "ppo_clip_ratio": 0.1, + "ppo_clip_value": 0.2, + "value_loss_coeff": 0.5, + "max_grad_norm": 4.0, + "exploration_loss_coeff": 0.0, + "kl_loss_coeff": 0.1, + "async_rl": false, + "batched_sampling": false, + "use_rnn": false, + "encoder_mlp_layers": [ + 64, + 64 + ], + "normalize_input": false, + "normalize_returns": false, + "save_every_sec": 60, + "keep_checkpoints": 5, + "fasttd3_replay_capacity": 6553600, + "fasttd3_replay_batch_size": 32768, + "fasttd3_transitions_per_update": 64, + "fasttd3_compile": true, + "actor_critic_share_weights": true, + "adaptive_stddev": false, + "reward_scale": 1.0, + "reward_clip": 1000000000.0, + "fasttd3_v_min": -250.0, + "fasttd3_v_max": 250.0, + "fasttd3_action_chunk_horizon": 8, + "fasttd3_actor_action_l2": 0.0 + }, + "evaluation": { + "eval_interval_steps": 1000000, + "eval_episodes": 8, + "eval_parallel_envs": 1, + "eval_max_steps": 1000, + "eval_deterministic": true + }, + "logging": { + "output_dir": "/pfs/users/lxy/latency-sensitive-bench/outputs/tasks/humanoidbench_balance_simple/local_h8/closed_loop_h8_replay6553600/formal/zero/rl_metrics", + "video": { + "enabled": false, + "num_bins": 1 + }, + "save_step_records": false, + "save_action_records": false, + "save_latency_records": false, + "wandb_project": "latency-sensitive-bench", + "wandb_group": "balance-qwenoft-h8-replay6553600-25m-20260914T162609Z", + "wandb_job_type": "sample_factory", + "wandb_name": "balance-qwenoft-h8-replay6553600-25m-20260914T162609Z-zero-rl", + "wandb_tags": [ + "balance", + "h8", + "zero", + "formal" + ], + "wandb_entity": "saberrr-zju" + } + }, + "code_revisions": { + "benchmark": { + "revision": "80d49e76f3ff43fbc0a0b1be88f2924427d0f5b5", + "dirty": true + }, + "starvla": { + "revision": "fdce085b815250b149c27ccfc6dee2334a746133", + "dirty": true + }, + "balance": { + "revision": "bfb63711ebe41bc0965287353b657f9bc52699da", + "dirty": false + } + }, + "condition": "zero-latency", + "action_horizon": 8, + "seed": 0, + "train_episodes": 90, + "val_episodes": 10, + "label": "compacted applied actions from teacher rollout" +}