{ "base_config": "parallelvla_clean_pcd", "camera_validation": { "episode": 12, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 165, "head_unique_frame_ratio": 0.9575757575757575, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.6157244082412063e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 194.93546006944445, "parallel_head_unique_frame_ratio": 0.9655172413793104, "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": 194.93546006944445, "right": 198.9493359375 } }, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.07742686834173215, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.143241537353286 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.2021165243134903 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.07742686834173215 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.10096111060446272 } }, "physics_steps_checked": 2203 }, "episode_index": 12, "motion_cross_check": { "object_place": { "active_union_frames": 38, "first_motion_frame": [ null, 88 ], "frames": 43, "left_motion_frames": 0, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 38 }, "scanner_align": { "active_union_frames": 32, "first_motion_frame": [ 131, null ], "frames": 35, "left_motion_frames": 32, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 0 }, "scanner_grasp+object_grasp": { "active_union_frames": 57, "first_motion_frame": [ 3, 2 ], "frames": 70, "left_motion_frames": 56, "overlap_frames": 56, "overlap_ratio_active": 0.9824561403508771, "overlap_ratio_all": 0.8, "right_motion_frames": 57 }, "scanner_lift+object_lift": { "active_union_frames": 15, "first_motion_frame": [ 71, 71 ], "frames": 17, "left_motion_frames": 15, "overlap_frames": 15, "overlap_ratio_active": 1.0, "overlap_ratio_all": 0.8823529411764706, "right_motion_frames": 15 } }, "moves": [ { "active_arms": [ "left", "right" ], "avoidable_idle_seconds": 0.0, "end_frame": 70, "end_physics_step": 953, "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": 87, "end_physics_step": 1167, "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": 953, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "right" ], "avoidable_idle_seconds": 2.324, "end_frame": 130, "end_physics_step": 1748, "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": 87, "start_physics_step": 1167, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "left" ], "avoidable_idle_seconds": 0.0, "end_frame": 165, "end_physics_step": 2203, "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": 130, "start_physics_step": 1748, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 } ], "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", "renderer_validation": { "camera_shader": "rt", "episode": 12, "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": 165, "scene_identity": { "left_object_target_pose": [ -0.03, -0.02, 0.95, 0.707, 0, -0.707, 0 ], "object_id": 2, "object_pose": [ 0.07277210056781769, -0.14279083907604218, 0.7408517599105835, 0.6808868646621704, 0.6794439554214478, 0.19362060725688934, 0.19302882254123688 ], "right_object_target_pose": [ 0.03, -0.02, 0.95, 0.707, 0, 0.707, 0 ], "scanner_id": 2, "scanner_pose": [ -0.12503682076931, -0.05858122929930687, 0.741139829158783, 0.3238811492919922, 0.32027190923690796, 0.6293728351593018, 0.629616379737854 ] }, "schedule_mode": "dependency_aware_overlap", "schedule_plan": null, "schedule_search": null, "schedule_strategy": "beam_dp", "schema_version": 5, "seed": 59, "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": [ 0.0292375348508358, -0.020388377830386162, 0.9495282173156738 ], "scanner_functional_point": [ -0.019743237829189297, -0.020982403354706705, 0.9534351745690992, 0.6803548572150155, -0.19181090274324192, 0.6808367574542421, -0.19179977985376187 ] }, "timing_summary": { "active_left_frames": 103, "active_right_frames": 110, "active_union_frames": 142, "avoidable_idle_seconds": 2.324, "frames": 165, "overlap_frames": 71, "overlap_ratio_active": 0.5, "overlap_ratio_all": 0.4303030303030303, "overlap_seconds": 2.3666666666666667, "seconds": 5.5, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 164, "training_action_execution_intervals": [ { "action_index": 0, "end_physics_step": 50, "physics_steps": 50, "start_physics_step": 0 }, { "action_index": 1, "end_physics_step": 100, "physics_steps": 50, "start_physics_step": 50 }, { "action_index": 2, "end_physics_step": 150, "physics_steps": 50, "start_physics_step": 100 }, { "action_index": 3, "end_physics_step": 221, "physics_steps": 71, "start_physics_step": 150 }, { "action_index": 4, "end_physics_step": 309, "physics_steps": 88, "start_physics_step": 221 }, { "action_index": 5, "end_physics_step": 411, "physics_steps": 102, "start_physics_step": 309 }, { "action_index": 6, "end_physics_step": 525, "physics_steps": 114, "start_physics_step": 411 }, { "action_index": 7, "end_physics_step": 650, "physics_steps": 125, "start_physics_step": 525 }, { "action_index": 8, "end_physics_step": 784, "physics_steps": 134, "start_physics_step": 650 }, { "action_index": 9, "end_physics_step": 926, "physics_steps": 142, "start_physics_step": 784 }, { "action_index": 10, "end_physics_step": 1074, "physics_steps": 148, "start_physics_step": 926 }, { "action_index": 11, "end_physics_step": 1227, "physics_steps": 153, "start_physics_step": 1074 }, { "action_index": 12, "end_physics_step": 1383, "physics_steps": 156, "start_physics_step": 1227 }, { "action_index": 13, "end_physics_step": 1542, "physics_steps": 159, "start_physics_step": 1383 }, { "action_index": 14, "end_physics_step": 1703, "physics_steps": 161, "start_physics_step": 1542 }, { "action_index": 15, "end_physics_step": 1865, "physics_steps": 162, "start_physics_step": 1703 }, { "action_index": 16, "end_physics_step": 2027, "physics_steps": 162, "start_physics_step": 1865 }, { "action_index": 17, "end_physics_step": 2188, "physics_steps": 161, "start_physics_step": 2027 }, { "action_index": 18, "end_physics_step": 2348, "physics_steps": 160, "start_physics_step": 2188 }, { "action_index": 19, "end_physics_step": 2505, "physics_steps": 157, "start_physics_step": 2348 }, { "action_index": 20, "end_physics_step": 2659, "physics_steps": 154, "start_physics_step": 2505 }, { "action_index": 21, "end_physics_step": 2809, "physics_steps": 150, "start_physics_step": 2659 }, { "action_index": 22, "end_physics_step": 2954, "physics_steps": 145, "start_physics_step": 2809 }, { "action_index": 23, "end_physics_step": 3092, "physics_steps": 138, "start_physics_step": 2954 }, { "action_index": 24, "end_physics_step": 3222, "physics_steps": 130, "start_physics_step": 3092 }, { "action_index": 25, "end_physics_step": 3343, "physics_steps": 121, "start_physics_step": 3222 }, { "action_index": 26, "end_physics_step": 3452, "physics_steps": 109, "start_physics_step": 3343 }, { "action_index": 27, "end_physics_step": 3548, "physics_steps": 96, "start_physics_step": 3452 }, { "action_index": 28, "end_physics_step": 3629, "physics_steps": 81, "start_physics_step": 3548 }, { "action_index": 29, "end_physics_step": 3692, "physics_steps": 63, "start_physics_step": 3629 }, { "action_index": 30, "end_physics_step": 3729, "physics_steps": 37, "start_physics_step": 3692 }, { "action_index": 31, "end_physics_step": 3779, "physics_steps": 50, "start_physics_step": 3729 }, { "action_index": 32, "end_physics_step": 3829, "physics_steps": 50, "start_physics_step": 3779 }, { "action_index": 33, "end_physics_step": 3879, "physics_steps": 50, "start_physics_step": 3829 }, { "action_index": 34, "end_physics_step": 3915, "physics_steps": 36, "start_physics_step": 3879 }, { "action_index": 35, "end_physics_step": 3943, "physics_steps": 28, "start_physics_step": 3915 }, { "action_index": 36, "end_physics_step": 4000, "physics_steps": 57, "start_physics_step": 3943 }, { "action_index": 37, "end_physics_step": 4076, "physics_steps": 76, "start_physics_step": 4000 }, { "action_index": 38, "end_physics_step": 4166, "physics_steps": 90, "start_physics_step": 4076 }, { "action_index": 39, "end_physics_step": 4265, "physics_steps": 99, "start_physics_step": 4166 }, { "action_index": 40, "end_physics_step": 4369, "physics_steps": 104, "start_physics_step": 4265 }, { "action_index": 41, "end_physics_step": 4476, "physics_steps": 107, "start_physics_step": 4369 }, { "action_index": 42, "end_physics_step": 4575, "physics_steps": 99, "start_physics_step": 4476 }, { "action_index": 43, "end_physics_step": 4661, "physics_steps": 86, "start_physics_step": 4575 }, { "action_index": 44, "end_physics_step": 4731, "physics_steps": 70, "start_physics_step": 4661 }, { "action_index": 45, "end_physics_step": 4777, "physics_steps": 46, "start_physics_step": 4731 }, { "action_index": 46, "end_physics_step": 4790, "physics_steps": 13, "start_physics_step": 4777 }, { "action_index": 47, "end_physics_step": 4840, "physics_steps": 50, "start_physics_step": 4790 }, { "action_index": 48, "end_physics_step": 4890, "physics_steps": 50, "start_physics_step": 4840 }, { "action_index": 49, "end_physics_step": 4940, "physics_steps": 50, "start_physics_step": 4890 }, { "action_index": 50, "end_physics_step": 4990, "physics_steps": 50, "start_physics_step": 4940 }, { "action_index": 51, "end_physics_step": 5040, "physics_steps": 50, "start_physics_step": 4990 }, { "action_index": 52, "end_physics_step": 5090, "physics_steps": 50, "start_physics_step": 5040 }, { "action_index": 53, "end_physics_step": 5140, "physics_steps": 50, "start_physics_step": 5090 }, { "action_index": 54, "end_physics_step": 5190, "physics_steps": 50, "start_physics_step": 5140 }, { "action_index": 55, "end_physics_step": 5240, "physics_steps": 50, "start_physics_step": 5190 }, { "action_index": 56, "end_physics_step": 5290, "physics_steps": 50, "start_physics_step": 5240 }, { "action_index": 57, "end_physics_step": 5340, "physics_steps": 50, "start_physics_step": 5290 }, { "action_index": 58, "end_physics_step": 5390, "physics_steps": 50, "start_physics_step": 5340 }, { "action_index": 59, "end_physics_step": 5440, "physics_steps": 50, "start_physics_step": 5390 }, { "action_index": 60, "end_physics_step": 5490, "physics_steps": 50, "start_physics_step": 5440 }, { "action_index": 61, "end_physics_step": 5540, "physics_steps": 50, "start_physics_step": 5490 }, { "action_index": 62, "end_physics_step": 5590, "physics_steps": 50, "start_physics_step": 5540 }, { "action_index": 63, "end_physics_step": 5640, "physics_steps": 50, "start_physics_step": 5590 }, { "action_index": 64, "end_physics_step": 5690, "physics_steps": 50, "start_physics_step": 5640 }, { "action_index": 65, "end_physics_step": 5740, "physics_steps": 50, "start_physics_step": 5690 }, { "action_index": 66, "end_physics_step": 5790, "physics_steps": 50, "start_physics_step": 5740 }, { "action_index": 67, "end_physics_step": 5840, "physics_steps": 50, "start_physics_step": 5790 }, { "action_index": 68, "end_physics_step": 5890, "physics_steps": 50, "start_physics_step": 5840 }, { "action_index": 69, "end_physics_step": 5940, "physics_steps": 50, "start_physics_step": 5890 }, { "action_index": 70, "end_physics_step": 5962, "physics_steps": 22, "start_physics_step": 5940 }, { "action_index": 71, "end_physics_step": 5988, "physics_steps": 26, "start_physics_step": 5962 }, { "action_index": 72, "end_physics_step": 6045, "physics_steps": 57, "start_physics_step": 5988 }, { "action_index": 73, "end_physics_step": 6122, "physics_steps": 77, "start_physics_step": 6045 }, { "action_index": 74, "end_physics_step": 6214, "physics_steps": 92, "start_physics_step": 6122 }, { "action_index": 75, "end_physics_step": 6319, "physics_steps": 105, "start_physics_step": 6214 }, { "action_index": 76, "end_physics_step": 6436, "physics_steps": 117, "start_physics_step": 6319 }, { "action_index": 77, "end_physics_step": 6562, "physics_steps": 126, "start_physics_step": 6436 }, { "action_index": 78, "end_physics_step": 6687, "physics_steps": 125, "start_physics_step": 6562 }, { "action_index": 79, "end_physics_step": 6802, "physics_steps": 115, "start_physics_step": 6687 }, { "action_index": 80, "end_physics_step": 6905, "physics_steps": 103, "start_physics_step": 6802 }, { "action_index": 81, "end_physics_step": 6995, "physics_steps": 90, "start_physics_step": 6905 }, { "action_index": 82, "end_physics_step": 7069, "physics_steps": 74, "start_physics_step": 6995 }, { "action_index": 83, "end_physics_step": 7121, "physics_steps": 52, "start_physics_step": 7069 }, { "action_index": 84, "end_physics_step": 7141, "physics_steps": 20, "start_physics_step": 7121 }, { "action_index": 85, "end_physics_step": 7191, "physics_steps": 50, "start_physics_step": 7141 }, { "action_index": 86, "end_physics_step": 7241, "physics_steps": 50, "start_physics_step": 7191 }, { "action_index": 87, "end_physics_step": 7291, "physics_steps": 50, "start_physics_step": 7241 }, { "action_index": 88, "end_physics_step": 7341, "physics_steps": 50, "start_physics_step": 7291 }, { "action_index": 89, "end_physics_step": 7391, "physics_steps": 50, "start_physics_step": 7341 }, { "action_index": 90, "end_physics_step": 7460, "physics_steps": 69, "start_physics_step": 7391 }, { "action_index": 91, "end_physics_step": 7546, "physics_steps": 86, "start_physics_step": 7460 }, { "action_index": 92, "end_physics_step": 7645, "physics_steps": 99, "start_physics_step": 7546 }, { "action_index": 93, "end_physics_step": 7756, "physics_steps": 111, "start_physics_step": 7645 }, { "action_index": 94, "end_physics_step": 7878, "physics_steps": 122, "start_physics_step": 7756 }, { "action_index": 95, "end_physics_step": 8010, "physics_steps": 132, "start_physics_step": 7878 }, { "action_index": 96, "end_physics_step": 8151, "physics_steps": 141, "start_physics_step": 8010 }, { "action_index": 97, "end_physics_step": 8302, "physics_steps": 151, "start_physics_step": 8151 }, { "action_index": 98, "end_physics_step": 8460, "physics_steps": 158, "start_physics_step": 8302 }, { "action_index": 99, "end_physics_step": 8623, "physics_steps": 163, "start_physics_step": 8460 }, { "action_index": 100, "end_physics_step": 8791, "physics_steps": 168, "start_physics_step": 8623 }, { "action_index": 101, "end_physics_step": 8961, "physics_steps": 170, "start_physics_step": 8791 }, { "action_index": 102, "end_physics_step": 9133, "physics_steps": 172, "start_physics_step": 8961 }, { "action_index": 103, "end_physics_step": 9306, "physics_steps": 173, "start_physics_step": 9133 }, { "action_index": 104, "end_physics_step": 9479, "physics_steps": 173, "start_physics_step": 9306 }, { "action_index": 105, "end_physics_step": 9651, "physics_steps": 172, "start_physics_step": 9479 }, { "action_index": 106, "end_physics_step": 9821, "physics_steps": 170, "start_physics_step": 9651 }, { "action_index": 107, "end_physics_step": 9989, "physics_steps": 168, "start_physics_step": 9821 }, { "action_index": 108, "end_physics_step": 10153, "physics_steps": 164, "start_physics_step": 9989 }, { "action_index": 109, "end_physics_step": 10313, "physics_steps": 160, "start_physics_step": 10153 }, { "action_index": 110, "end_physics_step": 10469, "physics_steps": 156, "start_physics_step": 10313 }, { "action_index": 111, "end_physics_step": 10620, "physics_steps": 151, "start_physics_step": 10469 }, { "action_index": 112, "end_physics_step": 10765, "physics_steps": 145, "start_physics_step": 10620 }, { "action_index": 113, "end_physics_step": 10904, "physics_steps": 139, "start_physics_step": 10765 }, { "action_index": 114, "end_physics_step": 11035, "physics_steps": 131, "start_physics_step": 10904 }, { "action_index": 115, "end_physics_step": 11155, "physics_steps": 120, "start_physics_step": 11035 }, { "action_index": 116, "end_physics_step": 11263, "physics_steps": 108, "start_physics_step": 11155 }, { "action_index": 117, "end_physics_step": 11359, "physics_steps": 96, "start_physics_step": 11263 }, { "action_index": 118, "end_physics_step": 11440, "physics_steps": 81, "start_physics_step": 11359 }, { "action_index": 119, "end_physics_step": 11503, "physics_steps": 63, "start_physics_step": 11440 }, { "action_index": 120, "end_physics_step": 11553, "physics_steps": 50, "start_physics_step": 11503 }, { "action_index": 121, "end_physics_step": 11603, "physics_steps": 50, "start_physics_step": 11553 }, { "action_index": 122, "end_physics_step": 11653, "physics_steps": 50, "start_physics_step": 11603 }, { "action_index": 123, "end_physics_step": 11703, "physics_steps": 50, "start_physics_step": 11653 }, { "action_index": 124, "end_physics_step": 11753, "physics_steps": 50, "start_physics_step": 11703 }, { "action_index": 125, "end_physics_step": 11803, "physics_steps": 50, "start_physics_step": 11753 }, { "action_index": 126, "end_physics_step": 11853, "physics_steps": 50, "start_physics_step": 11803 }, { "action_index": 127, "end_physics_step": 11903, "physics_steps": 50, "start_physics_step": 11853 }, { "action_index": 128, "end_physics_step": 11953, "physics_steps": 50, "start_physics_step": 11903 }, { "action_index": 129, "end_physics_step": 12003, "physics_steps": 50, "start_physics_step": 11953 }, { "action_index": 130, "end_physics_step": 12053, "physics_steps": 50, "start_physics_step": 12003 }, { "action_index": 131, "end_physics_step": 12103, "physics_steps": 50, "start_physics_step": 12053 }, { "action_index": 132, "end_physics_step": 12155, "physics_steps": 52, "start_physics_step": 12103 }, { "action_index": 133, "end_physics_step": 12228, "physics_steps": 73, "start_physics_step": 12155 }, { "action_index": 134, "end_physics_step": 12317, "physics_steps": 89, "start_physics_step": 12228 }, { "action_index": 135, "end_physics_step": 12419, "physics_steps": 102, "start_physics_step": 12317 }, { "action_index": 136, "end_physics_step": 12534, "physics_steps": 115, "start_physics_step": 12419 }, { "action_index": 137, "end_physics_step": 12658, "physics_steps": 124, "start_physics_step": 12534 }, { "action_index": 138, "end_physics_step": 12789, "physics_steps": 131, "start_physics_step": 12658 }, { "action_index": 139, "end_physics_step": 12926, "physics_steps": 137, "start_physics_step": 12789 }, { "action_index": 140, "end_physics_step": 13068, "physics_steps": 142, "start_physics_step": 12926 }, { "action_index": 141, "end_physics_step": 13215, "physics_steps": 147, "start_physics_step": 13068 }, { "action_index": 142, "end_physics_step": 13365, "physics_steps": 150, "start_physics_step": 13215 }, { "action_index": 143, "end_physics_step": 13517, "physics_steps": 152, "start_physics_step": 13365 }, { "action_index": 144, "end_physics_step": 13669, "physics_steps": 152, "start_physics_step": 13517 }, { "action_index": 145, "end_physics_step": 13820, "physics_steps": 151, "start_physics_step": 13669 }, { "action_index": 146, "end_physics_step": 13967, "physics_steps": 147, "start_physics_step": 13820 }, { "action_index": 147, "end_physics_step": 14109, "physics_steps": 142, "start_physics_step": 13967 }, { "action_index": 148, "end_physics_step": 14244, "physics_steps": 135, "start_physics_step": 14109 }, { "action_index": 149, "end_physics_step": 14358, "physics_steps": 114, "start_physics_step": 14244 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.030488915741443634, -0.020356131717562675, 0.9495753049850464 ], "scanner_functional_point": [ -0.00942645162874342, -0.0077851400386253974, 0.9304092213064533, 0.6225197926773335, -0.232761133384116, 0.7261049914111497, -0.1762467133268743 ] }, "training_action_input_frames": 165, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.07660951391997747, "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": 14358, "training_actions_executed": 150, "validate_synchronized_training_replay": true, "wrist_camera_preset": "centered_fovy90" }