{ "base_config": "parallelvla_clean_pcd", "camera_validation": { "episode": 11, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 170, "head_unique_frame_ratio": 0.9588235294117647, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.1301680756000714e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 194.72903645833333, "parallel_head_unique_frame_ratio": 0.9659090909090909, "preset": { "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5", "fovx_deg": 106.26020470831195, "fovy_deg": 90.0, "gripper_to_camera_matrix": [ [ 0.9886695961968883, -1.5244567471983168e-06, 0.15010833103640953, 0.06999997201749193 ], [ 1.567728436833223e-06, 1.0000000058018184, 6.430025196775677e-08, 2.011452240730468e-09 ], [ -0.15010829523993077, 1.6325174712825714e-07, 0.988669555703279, 0.06500000893891618 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "height": 240, "name": "centered_fovy90", "overrides_robotwin_default": true, "width": 320 }, "status": "passed", "wrist_consecutive_dark_frames": { "left": 0, "right": 0 }, "wrist_dark_frame_fraction": { "left": 0.0, "right": 0.0 }, "wrist_median_luminance": { "left": 201.42862847222221, "right": 194.72903645833333 } }, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.12994569836323136, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.20462722197369987 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1794288234769833 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.12994569836323136 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.17342016689763332 } }, "physics_steps_checked": 2238 }, "episode_index": 11, "motion_cross_check": { "object_place": { "active_union_frames": 40, "first_motion_frame": [ null, 89 ], "frames": 46, "left_motion_frames": 0, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 40 }, "scanner_align": { "active_union_frames": 31, "first_motion_frame": [ 135, null ], "frames": 36, "left_motion_frames": 31, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 0 }, "scanner_grasp+object_grasp": { "active_union_frames": 56, "first_motion_frame": [ 2, 2 ], "frames": 70, "left_motion_frames": 56, "overlap_frames": 56, "overlap_ratio_active": 1.0, "overlap_ratio_all": 0.8, "right_motion_frames": 56 }, "scanner_lift+object_lift": { "active_union_frames": 16, "first_motion_frame": [ 71, 71 ], "frames": 18, "left_motion_frames": 16, "overlap_frames": 16, "overlap_ratio_active": 1.0, "overlap_ratio_all": 0.8888888888888888, "right_motion_frames": 16 } }, "moves": [ { "active_arms": [ "left", "right" ], "avoidable_idle_seconds": 0.0, "end_frame": 70, "end_physics_step": 936, "held_objects": [ "scanner", "object" ], "move_index": 0, "name": "scanner_grasp+object_grasp", "node_ids": [ "scanner_grasp", "object_grasp" ], "predecessors": [], "resources": [ "left_arm", "right_arm", "scanner", "object" ], "semantic_phase": "dual_grasp", "start_frame": 0, "start_physics_step": 0, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "left", "right" ], "avoidable_idle_seconds": 0.0, "end_frame": 88, "end_physics_step": 1163, "held_objects": [ "scanner", "object" ], "move_index": 1, "name": "scanner_lift+object_lift", "node_ids": [ "scanner_lift", "object_lift" ], "predecessors": [ "scanner_grasp", "object_grasp" ], "resources": [ "left_arm", "right_arm", "scanner", "object" ], "semantic_phase": "dual_lift", "start_frame": 70, "start_physics_step": 936, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "right" ], "avoidable_idle_seconds": 2.472, "end_frame": 134, "end_physics_step": 1781, "held_objects": [ "object" ], "move_index": 2, "name": "object_place", "node_ids": [ "object_place" ], "predecessors": [ "object_lift" ], "resources": [ "right_arm", "object" ], "semantic_phase": "object_place", "start_frame": 88, "start_physics_step": 1163, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "left" ], "avoidable_idle_seconds": 0.0, "end_frame": 170, "end_physics_step": 2238, "held_objects": [ "scanner" ], "move_index": 3, "name": "scanner_align", "node_ids": [ "scanner_align" ], "predecessors": [ "scanner_lift", "object_place" ], "resources": [ "left_arm", "scanner" ], "semantic_phase": "scanner_align", "start_frame": 134, "start_physics_step": 1781, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 } ], "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", "renderer_validation": { "camera_shader": "rt", "episode": 11, "ray_tracing_denoiser": "optix", "status": "passed" }, "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", "robotwin_worktree_status": [ " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", " M assets/objects/122_metal-spacer-sleeve/model_data0.json", " M assets/objects/122_metal-spacer-sleeve/points_info.json", " M envs/_base_task.py", " M envs/insert_bolt_sleeve.py", " M envs/utils/pkl2hdf5.py", " M envs/utils/transforms.py", " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", "?? .tmp_search_head_pivot.py", "?? .tmp_search_horizontal_regrasp.py", "?? .tmp_search_vertical_roll.py", "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", "?? envs/_base_task.py.orig", "?? envs/insert_bolt_sleeve.py.orig", "?? policy/", "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", "?? task_config/official_aloha_agilex_clean_50.yml", "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", "?? task_config/parallelvla_async_grasp_render.yml", "?? task_config/parallelvla_async_render.yml", "?? task_config/parallelvla_clean_pcd.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", "?? task_config/parallelvla_clean_pcd_verified_v2.yml", "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", "?? task_config/parallelvla_eval_pcd.yml", "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", "?? task_config/parallelvla_official_concurrent_verified_v1.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml", "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml", "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml", "?? task_config/parallelvla_retimed_render.yml", "?? task_config/parallelvla_smoke.yml", "?? task_config/parallelvla_temporal_bias_verified_v1.yml" ], "sampled_frames": 170, "scene_identity": { "left_object_target_pose": [ -0.03, -0.02, 0.95, 0.707, 0, -0.707, 0 ], "object_id": 0, "object_pose": [ 0.11895003169775009, -0.17034538090229034, 0.7405554056167603, 0.47821730375289917, 0.47733038663864136, 0.5208793878555298, 0.5216785669326782 ], "right_object_target_pose": [ 0.03, -0.02, 0.95, 0.707, 0, 0.707, 0 ], "scanner_id": 0, "scanner_pose": [ -0.1704670786857605, -0.060201019048690796, 0.7377859354019165, 0.17219524085521698, 0.15476377308368683, 0.6583831906318665, 0.7161903977394104 ] }, "schedule_mode": "dependency_aware_overlap", "schedule_plan": null, "schedule_search": null, "schedule_strategy": "beam_dp", "schema_version": 5, "seed": 58, "seed_policy": "independent", "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "source_files_sha256": { "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11", "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b", "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef", "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e", "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795", "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b", "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3", "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427", "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf", "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e", "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba", "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9", "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd", "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058", "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db", "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874", "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5", "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f", "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b", "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538", "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405", "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d", "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292" }, "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2", "task_name": "scan_object", "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.02927006036043167, -0.020590081810951233, 0.949457049369812 ], "scanner_functional_point": [ -0.018763764775926006, -0.015051783244808804, 0.9583974810191137, 0.6390338346647424, -0.3050802940956558, 0.6377127859244444, -0.3031240257331419 ] }, "timing_summary": { "active_left_frames": 103, "active_right_frames": 112, "active_union_frames": 143, "avoidable_idle_seconds": 2.472, "frames": 170, "overlap_frames": 72, "overlap_ratio_active": 0.5034965034965035, "overlap_ratio_all": 0.4235294117647059, "overlap_seconds": 2.4, "seconds": 5.666666666666667, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 169, "training_action_execution_intervals": [ { "action_index": 0, "end_physics_step": 50, "physics_steps": 50, "start_physics_step": 0 }, { "action_index": 1, "end_physics_step": 60, "physics_steps": 10, "start_physics_step": 50 }, { "action_index": 2, "end_physics_step": 111, "physics_steps": 51, "start_physics_step": 60 }, { "action_index": 3, "end_physics_step": 183, "physics_steps": 72, "start_physics_step": 111 }, { "action_index": 4, "end_physics_step": 272, "physics_steps": 89, "start_physics_step": 183 }, { "action_index": 5, "end_physics_step": 375, "physics_steps": 103, "start_physics_step": 272 }, { "action_index": 6, "end_physics_step": 490, "physics_steps": 115, "start_physics_step": 375 }, { "action_index": 7, "end_physics_step": 616, "physics_steps": 126, "start_physics_step": 490 }, { "action_index": 8, "end_physics_step": 750, "physics_steps": 134, "start_physics_step": 616 }, { "action_index": 9, "end_physics_step": 892, "physics_steps": 142, "start_physics_step": 750 }, { "action_index": 10, "end_physics_step": 1039, "physics_steps": 147, "start_physics_step": 892 }, { "action_index": 11, "end_physics_step": 1191, "physics_steps": 152, "start_physics_step": 1039 }, { "action_index": 12, "end_physics_step": 1346, "physics_steps": 155, "start_physics_step": 1191 }, { "action_index": 13, "end_physics_step": 1504, "physics_steps": 158, "start_physics_step": 1346 }, { "action_index": 14, "end_physics_step": 1663, "physics_steps": 159, "start_physics_step": 1504 }, { "action_index": 15, "end_physics_step": 1823, "physics_steps": 160, "start_physics_step": 1663 }, { "action_index": 16, "end_physics_step": 1982, "physics_steps": 159, "start_physics_step": 1823 }, { "action_index": 17, "end_physics_step": 2140, "physics_steps": 158, "start_physics_step": 1982 }, { "action_index": 18, "end_physics_step": 2296, "physics_steps": 156, "start_physics_step": 2140 }, { "action_index": 19, "end_physics_step": 2449, "physics_steps": 153, "start_physics_step": 2296 }, { "action_index": 20, "end_physics_step": 2597, "physics_steps": 148, "start_physics_step": 2449 }, { "action_index": 21, "end_physics_step": 2740, "physics_steps": 143, "start_physics_step": 2597 }, { "action_index": 22, "end_physics_step": 2876, "physics_steps": 136, "start_physics_step": 2740 }, { "action_index": 23, "end_physics_step": 3003, "physics_steps": 127, "start_physics_step": 2876 }, { "action_index": 24, "end_physics_step": 3120, "physics_steps": 117, "start_physics_step": 3003 }, { "action_index": 25, "end_physics_step": 3225, "physics_steps": 105, "start_physics_step": 3120 }, { "action_index": 26, "end_physics_step": 3316, "physics_steps": 91, "start_physics_step": 3225 }, { "action_index": 27, "end_physics_step": 3391, "physics_steps": 75, "start_physics_step": 3316 }, { "action_index": 28, "end_physics_step": 3445, "physics_steps": 54, "start_physics_step": 3391 }, { "action_index": 29, "end_physics_step": 3466, "physics_steps": 21, "start_physics_step": 3445 }, { "action_index": 30, "end_physics_step": 3516, "physics_steps": 50, "start_physics_step": 3466 }, { "action_index": 31, "end_physics_step": 3566, "physics_steps": 50, "start_physics_step": 3516 }, { "action_index": 32, "end_physics_step": 3616, "physics_steps": 50, "start_physics_step": 3566 }, { "action_index": 33, "end_physics_step": 3652, "physics_steps": 36, "start_physics_step": 3616 }, { "action_index": 34, "end_physics_step": 3680, "physics_steps": 28, "start_physics_step": 3652 }, { "action_index": 35, "end_physics_step": 3737, "physics_steps": 57, "start_physics_step": 3680 }, { "action_index": 36, "end_physics_step": 3813, "physics_steps": 76, "start_physics_step": 3737 }, { "action_index": 37, "end_physics_step": 3902, "physics_steps": 89, "start_physics_step": 3813 }, { "action_index": 38, "end_physics_step": 4002, "physics_steps": 100, "start_physics_step": 3902 }, { "action_index": 39, "end_physics_step": 4108, "physics_steps": 106, "start_physics_step": 4002 }, { "action_index": 40, "end_physics_step": 4214, "physics_steps": 106, "start_physics_step": 4108 }, { "action_index": 41, "end_physics_step": 4315, "physics_steps": 101, "start_physics_step": 4214 }, { "action_index": 42, "end_physics_step": 4406, "physics_steps": 91, "start_physics_step": 4315 }, { "action_index": 43, "end_physics_step": 4481, "physics_steps": 75, "start_physics_step": 4406 }, { "action_index": 44, "end_physics_step": 4536, "physics_steps": 55, "start_physics_step": 4481 }, { "action_index": 45, "end_physics_step": 4559, "physics_steps": 23, "start_physics_step": 4536 }, { "action_index": 46, "end_physics_step": 4609, "physics_steps": 50, "start_physics_step": 4559 }, { "action_index": 47, "end_physics_step": 4659, "physics_steps": 50, "start_physics_step": 4609 }, { "action_index": 48, "end_physics_step": 4709, "physics_steps": 50, "start_physics_step": 4659 }, { "action_index": 49, "end_physics_step": 4759, "physics_steps": 50, "start_physics_step": 4709 }, { "action_index": 50, "end_physics_step": 4809, "physics_steps": 50, "start_physics_step": 4759 }, { "action_index": 51, "end_physics_step": 4859, "physics_steps": 50, "start_physics_step": 4809 }, { "action_index": 52, "end_physics_step": 4909, "physics_steps": 50, "start_physics_step": 4859 }, { "action_index": 53, "end_physics_step": 4959, "physics_steps": 50, "start_physics_step": 4909 }, { "action_index": 54, "end_physics_step": 5009, "physics_steps": 50, "start_physics_step": 4959 }, { "action_index": 55, "end_physics_step": 5059, "physics_steps": 50, "start_physics_step": 5009 }, { "action_index": 56, "end_physics_step": 5109, "physics_steps": 50, "start_physics_step": 5059 }, { "action_index": 57, "end_physics_step": 5159, "physics_steps": 50, "start_physics_step": 5109 }, { "action_index": 58, "end_physics_step": 5209, "physics_steps": 50, "start_physics_step": 5159 }, { "action_index": 59, "end_physics_step": 5259, "physics_steps": 50, "start_physics_step": 5209 }, { "action_index": 60, "end_physics_step": 5309, "physics_steps": 50, "start_physics_step": 5259 }, { "action_index": 61, "end_physics_step": 5359, "physics_steps": 50, "start_physics_step": 5309 }, { "action_index": 62, "end_physics_step": 5409, "physics_steps": 50, "start_physics_step": 5359 }, { "action_index": 63, "end_physics_step": 5459, "physics_steps": 50, "start_physics_step": 5409 }, { "action_index": 64, "end_physics_step": 5509, "physics_steps": 50, "start_physics_step": 5459 }, { "action_index": 65, "end_physics_step": 5559, "physics_steps": 50, "start_physics_step": 5509 }, { "action_index": 66, "end_physics_step": 5609, "physics_steps": 50, "start_physics_step": 5559 }, { "action_index": 67, "end_physics_step": 5659, "physics_steps": 50, "start_physics_step": 5609 }, { "action_index": 68, "end_physics_step": 5709, "physics_steps": 50, "start_physics_step": 5659 }, { "action_index": 69, "end_physics_step": 5759, "physics_steps": 50, "start_physics_step": 5709 }, { "action_index": 70, "end_physics_step": 5781, "physics_steps": 22, "start_physics_step": 5759 }, { "action_index": 71, "end_physics_step": 5806, "physics_steps": 25, "start_physics_step": 5781 }, { "action_index": 72, "end_physics_step": 5863, "physics_steps": 57, "start_physics_step": 5806 }, { "action_index": 73, "end_physics_step": 5939, "physics_steps": 76, "start_physics_step": 5863 }, { "action_index": 74, "end_physics_step": 6031, "physics_steps": 92, "start_physics_step": 5939 }, { "action_index": 75, "end_physics_step": 6136, "physics_steps": 105, "start_physics_step": 6031 }, { "action_index": 76, "end_physics_step": 6251, "physics_steps": 115, "start_physics_step": 6136 }, { "action_index": 77, "end_physics_step": 6374, "physics_steps": 123, "start_physics_step": 6251 }, { "action_index": 78, "end_physics_step": 6497, "physics_steps": 123, "start_physics_step": 6374 }, { "action_index": 79, "end_physics_step": 6619, "physics_steps": 122, "start_physics_step": 6497 }, { "action_index": 80, "end_physics_step": 6732, "physics_steps": 113, "start_physics_step": 6619 }, { "action_index": 81, "end_physics_step": 6833, "physics_steps": 101, "start_physics_step": 6732 }, { "action_index": 82, "end_physics_step": 6920, "physics_steps": 87, "start_physics_step": 6833 }, { "action_index": 83, "end_physics_step": 6990, "physics_steps": 70, "start_physics_step": 6920 }, { "action_index": 84, "end_physics_step": 7038, "physics_steps": 48, "start_physics_step": 6990 }, { "action_index": 85, "end_physics_step": 7052, "physics_steps": 14, "start_physics_step": 7038 }, { "action_index": 86, "end_physics_step": 7102, "physics_steps": 50, "start_physics_step": 7052 }, { "action_index": 87, "end_physics_step": 7152, "physics_steps": 50, "start_physics_step": 7102 }, { "action_index": 88, "end_physics_step": 7202, "physics_steps": 50, "start_physics_step": 7152 }, { "action_index": 89, "end_physics_step": 7252, "physics_steps": 50, "start_physics_step": 7202 }, { "action_index": 90, "end_physics_step": 7302, "physics_steps": 50, "start_physics_step": 7252 }, { "action_index": 91, "end_physics_step": 7371, "physics_steps": 69, "start_physics_step": 7302 }, { "action_index": 92, "end_physics_step": 7456, "physics_steps": 85, "start_physics_step": 7371 }, { "action_index": 93, "end_physics_step": 7554, "physics_steps": 98, "start_physics_step": 7456 }, { "action_index": 94, "end_physics_step": 7664, "physics_steps": 110, "start_physics_step": 7554 }, { "action_index": 95, "end_physics_step": 7787, "physics_steps": 123, "start_physics_step": 7664 }, { "action_index": 96, "end_physics_step": 7919, "physics_steps": 132, "start_physics_step": 7787 }, { "action_index": 97, "end_physics_step": 8059, "physics_steps": 140, "start_physics_step": 7919 }, { "action_index": 98, "end_physics_step": 8206, "physics_steps": 147, "start_physics_step": 8059 }, { "action_index": 99, "end_physics_step": 8359, "physics_steps": 153, "start_physics_step": 8206 }, { "action_index": 100, "end_physics_step": 8518, "physics_steps": 159, "start_physics_step": 8359 }, { "action_index": 101, "end_physics_step": 8682, "physics_steps": 164, "start_physics_step": 8518 }, { "action_index": 102, "end_physics_step": 8849, "physics_steps": 167, "start_physics_step": 8682 }, { "action_index": 103, "end_physics_step": 9018, "physics_steps": 169, "start_physics_step": 8849 }, { "action_index": 104, "end_physics_step": 9188, "physics_steps": 170, "start_physics_step": 9018 }, { "action_index": 105, "end_physics_step": 9358, "physics_steps": 170, "start_physics_step": 9188 }, { "action_index": 106, "end_physics_step": 9527, "physics_steps": 169, "start_physics_step": 9358 }, { "action_index": 107, "end_physics_step": 9693, "physics_steps": 166, "start_physics_step": 9527 }, { "action_index": 108, "end_physics_step": 9855, "physics_steps": 162, "start_physics_step": 9693 }, { "action_index": 109, "end_physics_step": 10013, "physics_steps": 158, "start_physics_step": 9855 }, { "action_index": 110, "end_physics_step": 10166, "physics_steps": 153, "start_physics_step": 10013 }, { "action_index": 111, "end_physics_step": 10314, "physics_steps": 148, "start_physics_step": 10166 }, { "action_index": 112, "end_physics_step": 10457, "physics_steps": 143, "start_physics_step": 10314 }, { "action_index": 113, "end_physics_step": 10595, "physics_steps": 138, "start_physics_step": 10457 }, { "action_index": 114, "end_physics_step": 10728, "physics_steps": 133, "start_physics_step": 10595 }, { "action_index": 115, "end_physics_step": 10856, "physics_steps": 128, "start_physics_step": 10728 }, { "action_index": 116, "end_physics_step": 10980, "physics_steps": 124, "start_physics_step": 10856 }, { "action_index": 117, "end_physics_step": 11100, "physics_steps": 120, "start_physics_step": 10980 }, { "action_index": 118, "end_physics_step": 11215, "physics_steps": 115, "start_physics_step": 11100 }, { "action_index": 119, "end_physics_step": 11323, "physics_steps": 108, "start_physics_step": 11215 }, { "action_index": 120, "end_physics_step": 11422, "physics_steps": 99, "start_physics_step": 11323 }, { "action_index": 121, "end_physics_step": 11510, "physics_steps": 88, "start_physics_step": 11422 }, { "action_index": 122, "end_physics_step": 11582, "physics_steps": 72, "start_physics_step": 11510 }, { "action_index": 123, "end_physics_step": 11634, "physics_steps": 52, "start_physics_step": 11582 }, { "action_index": 124, "end_physics_step": 11684, "physics_steps": 50, "start_physics_step": 11634 }, { "action_index": 125, "end_physics_step": 11734, "physics_steps": 50, "start_physics_step": 11684 }, { "action_index": 126, "end_physics_step": 11784, "physics_steps": 50, "start_physics_step": 11734 }, { "action_index": 127, "end_physics_step": 11834, "physics_steps": 50, "start_physics_step": 11784 }, { "action_index": 128, "end_physics_step": 11884, "physics_steps": 50, "start_physics_step": 11834 }, { "action_index": 129, "end_physics_step": 11934, "physics_steps": 50, "start_physics_step": 11884 }, { "action_index": 130, "end_physics_step": 11984, "physics_steps": 50, "start_physics_step": 11934 }, { "action_index": 131, "end_physics_step": 12034, "physics_steps": 50, "start_physics_step": 11984 }, { "action_index": 132, "end_physics_step": 12084, "physics_steps": 50, "start_physics_step": 12034 }, { "action_index": 133, "end_physics_step": 12134, "physics_steps": 50, "start_physics_step": 12084 }, { "action_index": 134, "end_physics_step": 12184, "physics_steps": 50, "start_physics_step": 12134 }, { "action_index": 135, "end_physics_step": 12234, "physics_steps": 50, "start_physics_step": 12184 }, { "action_index": 136, "end_physics_step": 12287, "physics_steps": 53, "start_physics_step": 12234 }, { "action_index": 137, "end_physics_step": 12360, "physics_steps": 73, "start_physics_step": 12287 }, { "action_index": 138, "end_physics_step": 12449, "physics_steps": 89, "start_physics_step": 12360 }, { "action_index": 139, "end_physics_step": 12552, "physics_steps": 103, "start_physics_step": 12449 }, { "action_index": 140, "end_physics_step": 12667, "physics_steps": 115, "start_physics_step": 12552 }, { "action_index": 141, "end_physics_step": 12792, "physics_steps": 125, "start_physics_step": 12667 }, { "action_index": 142, "end_physics_step": 12926, "physics_steps": 134, "start_physics_step": 12792 }, { "action_index": 143, "end_physics_step": 13067, "physics_steps": 141, "start_physics_step": 12926 }, { "action_index": 144, "end_physics_step": 13214, "physics_steps": 147, "start_physics_step": 13067 }, { "action_index": 145, "end_physics_step": 13365, "physics_steps": 151, "start_physics_step": 13214 }, { "action_index": 146, "end_physics_step": 13520, "physics_steps": 155, "start_physics_step": 13365 }, { "action_index": 147, "end_physics_step": 13677, "physics_steps": 157, "start_physics_step": 13520 }, { "action_index": 148, "end_physics_step": 13833, "physics_steps": 156, "start_physics_step": 13677 }, { "action_index": 149, "end_physics_step": 13986, "physics_steps": 153, "start_physics_step": 13833 }, { "action_index": 150, "end_physics_step": 14133, "physics_steps": 147, "start_physics_step": 13986 }, { "action_index": 151, "end_physics_step": 14273, "physics_steps": 140, "start_physics_step": 14133 }, { "action_index": 152, "end_physics_step": 14403, "physics_steps": 130, "start_physics_step": 14273 }, { "action_index": 153, "end_physics_step": 14462, "physics_steps": 59, "start_physics_step": 14403 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.030595578253269196, -0.019239669665694237, 0.9495123624801636 ], "scanner_functional_point": [ -0.018707084194912228, -0.023479391197497534, 0.9325342798833702, 0.5704930605213275, -0.3384005525120993, 0.6866992499402331, -0.29743381463451063 ] }, "training_action_input_frames": 170, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.12877869348289533, "training_action_preprocessor": "robotwin_next_sample_joint_target_v2", "training_action_preprocessor_version": 2, "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1", "training_action_replay_success": true, "training_action_total_physics_steps": 14462, "training_actions_executed": 154, "validate_synchronized_training_replay": true, "wrist_camera_preset": "centered_fovy90" }