{ "base_config": "parallelvla_clean_pcd", "camera_validation": { "episode": 17, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 170, "head_unique_frame_ratio": 0.9470588235294117, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.9058988857431096e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 181.0951931423611, "parallel_head_unique_frame_ratio": 0.9555555555555556, "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": 181.0951931423611, "right": 215.09206380208332 } }, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.20962905076920418, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.33065827011128396 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.20962905076920418 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.22342669787936775 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.26674912302418774 } }, "physics_steps_checked": 2257 }, "episode_index": 17, "motion_cross_check": { "object_place": { "active_union_frames": 42, "first_motion_frame": [ null, 91 ], "frames": 48, "left_motion_frames": 0, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 42 }, "scanner_align": { "active_union_frames": 28, "first_motion_frame": [ 139, null ], "frames": 32, "left_motion_frames": 28, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 0 }, "scanner_grasp+object_grasp": { "active_union_frames": 58, "first_motion_frame": [ 3, 3 ], "frames": 73, "left_motion_frames": 58, "overlap_frames": 58, "overlap_ratio_active": 1.0, "overlap_ratio_all": 0.7945205479452054, "right_motion_frames": 58 }, "scanner_lift+object_lift": { "active_union_frames": 15, "first_motion_frame": [ 74, 74 ], "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": 73, "end_physics_step": 986, "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": 90, "end_physics_step": 1210, "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": 73, "start_physics_step": 986, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "right" ], "avoidable_idle_seconds": 2.568, "end_frame": 138, "end_physics_step": 1852, "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": 90, "start_physics_step": 1210, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "left" ], "avoidable_idle_seconds": 0.0, "end_frame": 170, "end_physics_step": 2257, "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": 138, "start_physics_step": 1852, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 } ], "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", "renderer_validation": { "camera_shader": "rt", "episode": 17, "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": 2, "object_pose": [ 0.1331033557653427, -0.03587082400918007, 0.7408515810966492, 0.6484923362731934, 0.6483451724052429, 0.2820771634578705, 0.2820262908935547 ], "right_object_target_pose": [ 0.03, -0.02, 0.95, 0.707, 0, 0.707, 0 ], "scanner_id": 1, "scanner_pose": [ -0.24588146805763245, -0.10272359848022461, 0.7389730215072632, 0.12056086957454681, 0.12747438251972198, 0.7129013538360596, 0.6789602041244507 ] }, "schedule_mode": "dependency_aware_overlap", "schedule_plan": null, "schedule_search": null, "schedule_strategy": "beam_dp", "schema_version": 5, "seed": 83, "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": [ 0.029308777302503586, -0.020243600010871887, 0.9497194886207581 ], "scanner_functional_point": [ -0.017190583702933377, -0.0030631381088651113, 0.9673922421533504, 0.66307660277147, -0.2509009256352411, 0.6607295916695685, -0.2466060645332769 ] }, "timing_summary": { "active_left_frames": 101, "active_right_frames": 115, "active_union_frames": 143, "avoidable_idle_seconds": 2.568, "frames": 170, "overlap_frames": 73, "overlap_ratio_active": 0.5104895104895105, "overlap_ratio_all": 0.4294117647058823, "overlap_seconds": 2.433333333333333, "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": 100, "physics_steps": 50, "start_physics_step": 50 }, { "action_index": 2, "end_physics_step": 149, "physics_steps": 49, "start_physics_step": 100 }, { "action_index": 3, "end_physics_step": 220, "physics_steps": 71, "start_physics_step": 149 }, { "action_index": 4, "end_physics_step": 308, "physics_steps": 88, "start_physics_step": 220 }, { "action_index": 5, "end_physics_step": 410, "physics_steps": 102, "start_physics_step": 308 }, { "action_index": 6, "end_physics_step": 524, "physics_steps": 114, "start_physics_step": 410 }, { "action_index": 7, "end_physics_step": 649, "physics_steps": 125, "start_physics_step": 524 }, { "action_index": 8, "end_physics_step": 783, "physics_steps": 134, "start_physics_step": 649 }, { "action_index": 9, "end_physics_step": 925, "physics_steps": 142, "start_physics_step": 783 }, { "action_index": 10, "end_physics_step": 1073, "physics_steps": 148, "start_physics_step": 925 }, { "action_index": 11, "end_physics_step": 1226, "physics_steps": 153, "start_physics_step": 1073 }, { "action_index": 12, "end_physics_step": 1384, "physics_steps": 158, "start_physics_step": 1226 }, { "action_index": 13, "end_physics_step": 1546, "physics_steps": 162, "start_physics_step": 1384 }, { "action_index": 14, "end_physics_step": 1711, "physics_steps": 165, "start_physics_step": 1546 }, { "action_index": 15, "end_physics_step": 1878, "physics_steps": 167, "start_physics_step": 1711 }, { "action_index": 16, "end_physics_step": 2045, "physics_steps": 167, "start_physics_step": 1878 }, { "action_index": 17, "end_physics_step": 2212, "physics_steps": 167, "start_physics_step": 2045 }, { "action_index": 18, "end_physics_step": 2378, "physics_steps": 166, "start_physics_step": 2212 }, { "action_index": 19, "end_physics_step": 2541, "physics_steps": 163, "start_physics_step": 2378 }, { "action_index": 20, "end_physics_step": 2701, "physics_steps": 160, "start_physics_step": 2541 }, { "action_index": 21, "end_physics_step": 2857, "physics_steps": 156, "start_physics_step": 2701 }, { "action_index": 22, "end_physics_step": 3008, "physics_steps": 151, "start_physics_step": 2857 }, { "action_index": 23, "end_physics_step": 3153, "physics_steps": 145, "start_physics_step": 3008 }, { "action_index": 24, "end_physics_step": 3291, "physics_steps": 138, "start_physics_step": 3153 }, { "action_index": 25, "end_physics_step": 3421, "physics_steps": 130, "start_physics_step": 3291 }, { "action_index": 26, "end_physics_step": 3541, "physics_steps": 120, "start_physics_step": 3421 }, { "action_index": 27, "end_physics_step": 3650, "physics_steps": 109, "start_physics_step": 3541 }, { "action_index": 28, "end_physics_step": 3746, "physics_steps": 96, "start_physics_step": 3650 }, { "action_index": 29, "end_physics_step": 3827, "physics_steps": 81, "start_physics_step": 3746 }, { "action_index": 30, "end_physics_step": 3890, "physics_steps": 63, "start_physics_step": 3827 }, { "action_index": 31, "end_physics_step": 3928, "physics_steps": 38, "start_physics_step": 3890 }, { "action_index": 32, "end_physics_step": 3978, "physics_steps": 50, "start_physics_step": 3928 }, { "action_index": 33, "end_physics_step": 4028, "physics_steps": 50, "start_physics_step": 3978 }, { "action_index": 34, "end_physics_step": 4078, "physics_steps": 50, "start_physics_step": 4028 }, { "action_index": 35, "end_physics_step": 4114, "physics_steps": 36, "start_physics_step": 4078 }, { "action_index": 36, "end_physics_step": 4142, "physics_steps": 28, "start_physics_step": 4114 }, { "action_index": 37, "end_physics_step": 4199, "physics_steps": 57, "start_physics_step": 4142 }, { "action_index": 38, "end_physics_step": 4273, "physics_steps": 74, "start_physics_step": 4199 }, { "action_index": 39, "end_physics_step": 4358, "physics_steps": 85, "start_physics_step": 4273 }, { "action_index": 40, "end_physics_step": 4450, "physics_steps": 92, "start_physics_step": 4358 }, { "action_index": 41, "end_physics_step": 4547, "physics_steps": 97, "start_physics_step": 4450 }, { "action_index": 42, "end_physics_step": 4646, "physics_steps": 99, "start_physics_step": 4547 }, { "action_index": 43, "end_physics_step": 4744, "physics_steps": 98, "start_physics_step": 4646 }, { "action_index": 44, "end_physics_step": 4839, "physics_steps": 95, "start_physics_step": 4744 }, { "action_index": 45, "end_physics_step": 4924, "physics_steps": 85, "start_physics_step": 4839 }, { "action_index": 46, "end_physics_step": 4995, "physics_steps": 71, "start_physics_step": 4924 }, { "action_index": 47, "end_physics_step": 5043, "physics_steps": 48, "start_physics_step": 4995 }, { "action_index": 48, "end_physics_step": 5058, "physics_steps": 15, "start_physics_step": 5043 }, { "action_index": 49, "end_physics_step": 5108, "physics_steps": 50, "start_physics_step": 5058 }, { "action_index": 50, "end_physics_step": 5158, "physics_steps": 50, "start_physics_step": 5108 }, { "action_index": 51, "end_physics_step": 5208, "physics_steps": 50, "start_physics_step": 5158 }, { "action_index": 52, "end_physics_step": 5258, "physics_steps": 50, "start_physics_step": 5208 }, { "action_index": 53, "end_physics_step": 5308, "physics_steps": 50, "start_physics_step": 5258 }, { "action_index": 54, "end_physics_step": 5358, "physics_steps": 50, "start_physics_step": 5308 }, { "action_index": 55, "end_physics_step": 5408, "physics_steps": 50, "start_physics_step": 5358 }, { "action_index": 56, "end_physics_step": 5458, "physics_steps": 50, "start_physics_step": 5408 }, { "action_index": 57, "end_physics_step": 5508, "physics_steps": 50, "start_physics_step": 5458 }, { "action_index": 58, "end_physics_step": 5558, "physics_steps": 50, "start_physics_step": 5508 }, { "action_index": 59, "end_physics_step": 5608, "physics_steps": 50, "start_physics_step": 5558 }, { "action_index": 60, "end_physics_step": 5658, "physics_steps": 50, "start_physics_step": 5608 }, { "action_index": 61, "end_physics_step": 5708, "physics_steps": 50, "start_physics_step": 5658 }, { "action_index": 62, "end_physics_step": 5758, "physics_steps": 50, "start_physics_step": 5708 }, { "action_index": 63, "end_physics_step": 5808, "physics_steps": 50, "start_physics_step": 5758 }, { "action_index": 64, "end_physics_step": 5858, "physics_steps": 50, "start_physics_step": 5808 }, { "action_index": 65, "end_physics_step": 5908, "physics_steps": 50, "start_physics_step": 5858 }, { "action_index": 66, "end_physics_step": 5958, "physics_steps": 50, "start_physics_step": 5908 }, { "action_index": 67, "end_physics_step": 6008, "physics_steps": 50, "start_physics_step": 5958 }, { "action_index": 68, "end_physics_step": 6058, "physics_steps": 50, "start_physics_step": 6008 }, { "action_index": 69, "end_physics_step": 6108, "physics_steps": 50, "start_physics_step": 6058 }, { "action_index": 70, "end_physics_step": 6158, "physics_steps": 50, "start_physics_step": 6108 }, { "action_index": 71, "end_physics_step": 6208, "physics_steps": 50, "start_physics_step": 6158 }, { "action_index": 72, "end_physics_step": 6258, "physics_steps": 50, "start_physics_step": 6208 }, { "action_index": 73, "end_physics_step": 6282, "physics_steps": 24, "start_physics_step": 6258 }, { "action_index": 74, "end_physics_step": 6308, "physics_steps": 26, "start_physics_step": 6282 }, { "action_index": 75, "end_physics_step": 6365, "physics_steps": 57, "start_physics_step": 6308 }, { "action_index": 76, "end_physics_step": 6442, "physics_steps": 77, "start_physics_step": 6365 }, { "action_index": 77, "end_physics_step": 6534, "physics_steps": 92, "start_physics_step": 6442 }, { "action_index": 78, "end_physics_step": 6639, "physics_steps": 105, "start_physics_step": 6534 }, { "action_index": 79, "end_physics_step": 6756, "physics_steps": 117, "start_physics_step": 6639 }, { "action_index": 80, "end_physics_step": 6880, "physics_steps": 124, "start_physics_step": 6756 }, { "action_index": 81, "end_physics_step": 7005, "physics_steps": 125, "start_physics_step": 6880 }, { "action_index": 82, "end_physics_step": 7126, "physics_steps": 121, "start_physics_step": 7005 }, { "action_index": 83, "end_physics_step": 7237, "physics_steps": 111, "start_physics_step": 7126 }, { "action_index": 84, "end_physics_step": 7336, "physics_steps": 99, "start_physics_step": 7237 }, { "action_index": 85, "end_physics_step": 7420, "physics_steps": 84, "start_physics_step": 7336 }, { "action_index": 86, "end_physics_step": 7487, "physics_steps": 67, "start_physics_step": 7420 }, { "action_index": 87, "end_physics_step": 7529, "physics_steps": 42, "start_physics_step": 7487 }, { "action_index": 88, "end_physics_step": 7579, "physics_steps": 50, "start_physics_step": 7529 }, { "action_index": 89, "end_physics_step": 7629, "physics_steps": 50, "start_physics_step": 7579 }, { "action_index": 90, "end_physics_step": 7679, "physics_steps": 50, "start_physics_step": 7629 }, { "action_index": 91, "end_physics_step": 7729, "physics_steps": 50, "start_physics_step": 7679 }, { "action_index": 92, "end_physics_step": 7779, "physics_steps": 50, "start_physics_step": 7729 }, { "action_index": 93, "end_physics_step": 7847, "physics_steps": 68, "start_physics_step": 7779 }, { "action_index": 94, "end_physics_step": 7931, "physics_steps": 84, "start_physics_step": 7847 }, { "action_index": 95, "end_physics_step": 8030, "physics_steps": 99, "start_physics_step": 7931 }, { "action_index": 96, "end_physics_step": 8141, "physics_steps": 111, "start_physics_step": 8030 }, { "action_index": 97, "end_physics_step": 8260, "physics_steps": 119, "start_physics_step": 8141 }, { "action_index": 98, "end_physics_step": 8387, "physics_steps": 127, "start_physics_step": 8260 }, { "action_index": 99, "end_physics_step": 8520, "physics_steps": 133, "start_physics_step": 8387 }, { "action_index": 100, "end_physics_step": 8661, "physics_steps": 141, "start_physics_step": 8520 }, { "action_index": 101, "end_physics_step": 8806, "physics_steps": 145, "start_physics_step": 8661 }, { "action_index": 102, "end_physics_step": 8955, "physics_steps": 149, "start_physics_step": 8806 }, { "action_index": 103, "end_physics_step": 9108, "physics_steps": 153, "start_physics_step": 8955 }, { "action_index": 104, "end_physics_step": 9264, "physics_steps": 156, "start_physics_step": 9108 }, { "action_index": 105, "end_physics_step": 9423, "physics_steps": 159, "start_physics_step": 9264 }, { "action_index": 106, "end_physics_step": 9584, "physics_steps": 161, "start_physics_step": 9423 }, { "action_index": 107, "end_physics_step": 9746, "physics_steps": 162, "start_physics_step": 9584 }, { "action_index": 108, "end_physics_step": 9909, "physics_steps": 163, "start_physics_step": 9746 }, { "action_index": 109, "end_physics_step": 10073, "physics_steps": 164, "start_physics_step": 9909 }, { "action_index": 110, "end_physics_step": 10237, "physics_steps": 164, "start_physics_step": 10073 }, { "action_index": 111, "end_physics_step": 10401, "physics_steps": 164, "start_physics_step": 10237 }, { "action_index": 112, "end_physics_step": 10564, "physics_steps": 163, "start_physics_step": 10401 }, { "action_index": 113, "end_physics_step": 10726, "physics_steps": 162, "start_physics_step": 10564 }, { "action_index": 114, "end_physics_step": 10886, "physics_steps": 160, "start_physics_step": 10726 }, { "action_index": 115, "end_physics_step": 11043, "physics_steps": 157, "start_physics_step": 10886 }, { "action_index": 116, "end_physics_step": 11198, "physics_steps": 155, "start_physics_step": 11043 }, { "action_index": 117, "end_physics_step": 11349, "physics_steps": 151, "start_physics_step": 11198 }, { "action_index": 118, "end_physics_step": 11496, "physics_steps": 147, "start_physics_step": 11349 }, { "action_index": 119, "end_physics_step": 11637, "physics_steps": 141, "start_physics_step": 11496 }, { "action_index": 120, "end_physics_step": 11773, "physics_steps": 136, "start_physics_step": 11637 }, { "action_index": 121, "end_physics_step": 11903, "physics_steps": 130, "start_physics_step": 11773 }, { "action_index": 122, "end_physics_step": 12026, "physics_steps": 123, "start_physics_step": 11903 }, { "action_index": 123, "end_physics_step": 12138, "physics_steps": 112, "start_physics_step": 12026 }, { "action_index": 124, "end_physics_step": 12241, "physics_steps": 103, "start_physics_step": 12138 }, { "action_index": 125, "end_physics_step": 12332, "physics_steps": 91, "start_physics_step": 12241 }, { "action_index": 126, "end_physics_step": 12410, "physics_steps": 78, "start_physics_step": 12332 }, { "action_index": 127, "end_physics_step": 12466, "physics_steps": 56, "start_physics_step": 12410 }, { "action_index": 128, "end_physics_step": 12516, "physics_steps": 50, "start_physics_step": 12466 }, { "action_index": 129, "end_physics_step": 12566, "physics_steps": 50, "start_physics_step": 12516 }, { "action_index": 130, "end_physics_step": 12616, "physics_steps": 50, "start_physics_step": 12566 }, { "action_index": 131, "end_physics_step": 12666, "physics_steps": 50, "start_physics_step": 12616 }, { "action_index": 132, "end_physics_step": 12716, "physics_steps": 50, "start_physics_step": 12666 }, { "action_index": 133, "end_physics_step": 12766, "physics_steps": 50, "start_physics_step": 12716 }, { "action_index": 134, "end_physics_step": 12816, "physics_steps": 50, "start_physics_step": 12766 }, { "action_index": 135, "end_physics_step": 12866, "physics_steps": 50, "start_physics_step": 12816 }, { "action_index": 136, "end_physics_step": 12916, "physics_steps": 50, "start_physics_step": 12866 }, { "action_index": 137, "end_physics_step": 12966, "physics_steps": 50, "start_physics_step": 12916 }, { "action_index": 138, "end_physics_step": 13016, "physics_steps": 50, "start_physics_step": 12966 }, { "action_index": 139, "end_physics_step": 13066, "physics_steps": 50, "start_physics_step": 13016 }, { "action_index": 140, "end_physics_step": 13119, "physics_steps": 53, "start_physics_step": 13066 }, { "action_index": 141, "end_physics_step": 13192, "physics_steps": 73, "start_physics_step": 13119 }, { "action_index": 142, "end_physics_step": 13283, "physics_steps": 91, "start_physics_step": 13192 }, { "action_index": 143, "end_physics_step": 13387, "physics_steps": 104, "start_physics_step": 13283 }, { "action_index": 144, "end_physics_step": 13502, "physics_steps": 115, "start_physics_step": 13387 }, { "action_index": 145, "end_physics_step": 13629, "physics_steps": 127, "start_physics_step": 13502 }, { "action_index": 146, "end_physics_step": 13763, "physics_steps": 134, "start_physics_step": 13629 }, { "action_index": 147, "end_physics_step": 13903, "physics_steps": 140, "start_physics_step": 13763 }, { "action_index": 148, "end_physics_step": 14048, "physics_steps": 145, "start_physics_step": 13903 }, { "action_index": 149, "end_physics_step": 14195, "physics_steps": 147, "start_physics_step": 14048 }, { "action_index": 150, "end_physics_step": 14342, "physics_steps": 147, "start_physics_step": 14195 }, { "action_index": 151, "end_physics_step": 14488, "physics_steps": 146, "start_physics_step": 14342 }, { "action_index": 152, "end_physics_step": 14631, "physics_steps": 143, "start_physics_step": 14488 }, { "action_index": 153, "end_physics_step": 14769, "physics_steps": 138, "start_physics_step": 14631 }, { "action_index": 154, "end_physics_step": 14900, "physics_steps": 131, "start_physics_step": 14769 }, { "action_index": 155, "end_physics_step": 14973, "physics_steps": 73, "start_physics_step": 14900 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.030323922634124756, -0.02000906504690647, 0.949368953704834 ], "scanner_functional_point": [ -0.042021915540596755, -0.01397544393557519, 0.945081071719025, 0.5940782583365998, -0.3024666035224308, 0.7098730694897373, -0.22729980628802912 ] }, "training_action_input_frames": 170, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.2228750044858377, "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": 14973, "training_actions_executed": 156, "validate_synchronized_training_replay": true, "wrist_camera_preset": "centered_fovy90" }