{ "base_config": "parallelvla_clean_pcd", "camera_validation": { "episode": 19, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 164, "head_unique_frame_ratio": 0.9512195121951219, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.3120998938217525e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 175.11608072916664, "parallel_head_unique_frame_ratio": 0.9651162790697675, "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": 175.11608072916664, "right": 208.19305121527776 } }, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.13542273558474502, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.17896442389478553 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.18440377846305303 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.13542273558474502 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.14852399596362265 } }, "physics_steps_checked": 2184 }, "episode_index": 19, "motion_cross_check": { "object_place": { "active_union_frames": 41, "first_motion_frame": [ null, 87 ], "frames": 47, "left_motion_frames": 0, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 41 }, "scanner_align": { "active_union_frames": 27, "first_motion_frame": [ 134, null ], "frames": 31, "left_motion_frames": 27, "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": 69, "left_motion_frames": 56, "overlap_frames": 56, "overlap_ratio_active": 1.0, "overlap_ratio_all": 0.8115942028985508, "right_motion_frames": 56 }, "scanner_lift+object_lift": { "active_union_frames": 16, "first_motion_frame": [ 70, 70 ], "frames": 17, "left_motion_frames": 16, "overlap_frames": 16, "overlap_ratio_active": 1.0, "overlap_ratio_all": 0.9411764705882353, "right_motion_frames": 16 } }, "moves": [ { "active_arms": [ "left", "right" ], "avoidable_idle_seconds": 0.0, "end_frame": 69, "end_physics_step": 940, "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": 86, "end_physics_step": 1165, "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": 69, "start_physics_step": 940, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "right" ], "avoidable_idle_seconds": 2.52, "end_frame": 133, "end_physics_step": 1795, "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": 86, "start_physics_step": 1165, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "left" ], "avoidable_idle_seconds": 0.0, "end_frame": 164, "end_physics_step": 2184, "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": 133, "start_physics_step": 1795, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 } ], "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", "renderer_validation": { "camera_shader": "rt", "episode": 19, "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": 164, "scene_identity": { "left_object_target_pose": [ -0.03, -0.02, 0.95, 0.707, 0, -0.707, 0 ], "object_id": 4, "object_pose": [ 0.1330304592847824, -0.13972146809101105, 0.74069744348526, 0.4347887337207794, 0.4349146783351898, 0.5576666593551636, 0.557508647441864 ], "right_object_target_pose": [ 0.03, -0.02, 0.95, 0.707, 0, 0.707, 0 ], "scanner_id": 1, "scanner_pose": [ -0.14194463193416595, -0.10189028084278107, 0.7389697432518005, 0.3873406648635864, 0.4068613052368164, 0.5991765260696411, 0.5704548358917236 ] }, "schedule_mode": "dependency_aware_overlap", "schedule_plan": null, "schedule_search": null, "schedule_strategy": "beam_dp", "schema_version": 5, "seed": 97, "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": [ 0.02914138324558735, -0.020444734022021294, 0.9494831562042236 ], "scanner_functional_point": [ -0.01462139421298014, -0.020802472247139575, 0.9737672237378571, 0.7064426698019268, -0.027392057026745846, 0.7067028268475037, -0.027559826209854695 ] }, "timing_summary": { "active_left_frames": 99, "active_right_frames": 113, "active_union_frames": 140, "avoidable_idle_seconds": 2.52, "frames": 164, "overlap_frames": 72, "overlap_ratio_active": 0.5142857142857142, "overlap_ratio_all": 0.43902439024390244, "overlap_seconds": 2.4, "seconds": 5.466666666666667, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 163, "training_action_execution_intervals": [ { "action_index": 0, "end_physics_step": 50, "physics_steps": 50, "start_physics_step": 0 }, { "action_index": 1, "end_physics_step": 58, "physics_steps": 8, "start_physics_step": 50 }, { "action_index": 2, "end_physics_step": 108, "physics_steps": 50, "start_physics_step": 58 }, { "action_index": 3, "end_physics_step": 180, "physics_steps": 72, "start_physics_step": 108 }, { "action_index": 4, "end_physics_step": 268, "physics_steps": 88, "start_physics_step": 180 }, { "action_index": 5, "end_physics_step": 370, "physics_steps": 102, "start_physics_step": 268 }, { "action_index": 6, "end_physics_step": 484, "physics_steps": 114, "start_physics_step": 370 }, { "action_index": 7, "end_physics_step": 609, "physics_steps": 125, "start_physics_step": 484 }, { "action_index": 8, "end_physics_step": 743, "physics_steps": 134, "start_physics_step": 609 }, { "action_index": 9, "end_physics_step": 885, "physics_steps": 142, "start_physics_step": 743 }, { "action_index": 10, "end_physics_step": 1033, "physics_steps": 148, "start_physics_step": 885 }, { "action_index": 11, "end_physics_step": 1185, "physics_steps": 152, "start_physics_step": 1033 }, { "action_index": 12, "end_physics_step": 1341, "physics_steps": 156, "start_physics_step": 1185 }, { "action_index": 13, "end_physics_step": 1500, "physics_steps": 159, "start_physics_step": 1341 }, { "action_index": 14, "end_physics_step": 1660, "physics_steps": 160, "start_physics_step": 1500 }, { "action_index": 15, "end_physics_step": 1821, "physics_steps": 161, "start_physics_step": 1660 }, { "action_index": 16, "end_physics_step": 1982, "physics_steps": 161, "start_physics_step": 1821 }, { "action_index": 17, "end_physics_step": 2142, "physics_steps": 160, "start_physics_step": 1982 }, { "action_index": 18, "end_physics_step": 2300, "physics_steps": 158, "start_physics_step": 2142 }, { "action_index": 19, "end_physics_step": 2455, "physics_steps": 155, "start_physics_step": 2300 }, { "action_index": 20, "end_physics_step": 2606, "physics_steps": 151, "start_physics_step": 2455 }, { "action_index": 21, "end_physics_step": 2752, "physics_steps": 146, "start_physics_step": 2606 }, { "action_index": 22, "end_physics_step": 2891, "physics_steps": 139, "start_physics_step": 2752 }, { "action_index": 23, "end_physics_step": 3022, "physics_steps": 131, "start_physics_step": 2891 }, { "action_index": 24, "end_physics_step": 3144, "physics_steps": 122, "start_physics_step": 3022 }, { "action_index": 25, "end_physics_step": 3255, "physics_steps": 111, "start_physics_step": 3144 }, { "action_index": 26, "end_physics_step": 3353, "physics_steps": 98, "start_physics_step": 3255 }, { "action_index": 27, "end_physics_step": 3436, "physics_steps": 83, "start_physics_step": 3353 }, { "action_index": 28, "end_physics_step": 3501, "physics_steps": 65, "start_physics_step": 3436 }, { "action_index": 29, "end_physics_step": 3542, "physics_steps": 41, "start_physics_step": 3501 }, { "action_index": 30, "end_physics_step": 3592, "physics_steps": 50, "start_physics_step": 3542 }, { "action_index": 31, "end_physics_step": 3642, "physics_steps": 50, "start_physics_step": 3592 }, { "action_index": 32, "end_physics_step": 3692, "physics_steps": 50, "start_physics_step": 3642 }, { "action_index": 33, "end_physics_step": 3727, "physics_steps": 35, "start_physics_step": 3692 }, { "action_index": 34, "end_physics_step": 3755, "physics_steps": 28, "start_physics_step": 3727 }, { "action_index": 35, "end_physics_step": 3812, "physics_steps": 57, "start_physics_step": 3755 }, { "action_index": 36, "end_physics_step": 3888, "physics_steps": 76, "start_physics_step": 3812 }, { "action_index": 37, "end_physics_step": 3979, "physics_steps": 91, "start_physics_step": 3888 }, { "action_index": 38, "end_physics_step": 4080, "physics_steps": 101, "start_physics_step": 3979 }, { "action_index": 39, "end_physics_step": 4186, "physics_steps": 106, "start_physics_step": 4080 }, { "action_index": 40, "end_physics_step": 4292, "physics_steps": 106, "start_physics_step": 4186 }, { "action_index": 41, "end_physics_step": 4392, "physics_steps": 100, "start_physics_step": 4292 }, { "action_index": 42, "end_physics_step": 4479, "physics_steps": 87, "start_physics_step": 4392 }, { "action_index": 43, "end_physics_step": 4550, "physics_steps": 71, "start_physics_step": 4479 }, { "action_index": 44, "end_physics_step": 4599, "physics_steps": 49, "start_physics_step": 4550 }, { "action_index": 45, "end_physics_step": 4614, "physics_steps": 15, "start_physics_step": 4599 }, { "action_index": 46, "end_physics_step": 4664, "physics_steps": 50, "start_physics_step": 4614 }, { "action_index": 47, "end_physics_step": 4714, "physics_steps": 50, "start_physics_step": 4664 }, { "action_index": 48, "end_physics_step": 4764, "physics_steps": 50, "start_physics_step": 4714 }, { "action_index": 49, "end_physics_step": 4814, "physics_steps": 50, "start_physics_step": 4764 }, { "action_index": 50, "end_physics_step": 4864, "physics_steps": 50, "start_physics_step": 4814 }, { "action_index": 51, "end_physics_step": 4914, "physics_steps": 50, "start_physics_step": 4864 }, { "action_index": 52, "end_physics_step": 4964, "physics_steps": 50, "start_physics_step": 4914 }, { "action_index": 53, "end_physics_step": 5014, "physics_steps": 50, "start_physics_step": 4964 }, { "action_index": 54, "end_physics_step": 5064, "physics_steps": 50, "start_physics_step": 5014 }, { "action_index": 55, "end_physics_step": 5114, "physics_steps": 50, "start_physics_step": 5064 }, { "action_index": 56, "end_physics_step": 5164, "physics_steps": 50, "start_physics_step": 5114 }, { "action_index": 57, "end_physics_step": 5214, "physics_steps": 50, "start_physics_step": 5164 }, { "action_index": 58, "end_physics_step": 5264, "physics_steps": 50, "start_physics_step": 5214 }, { "action_index": 59, "end_physics_step": 5314, "physics_steps": 50, "start_physics_step": 5264 }, { "action_index": 60, "end_physics_step": 5364, "physics_steps": 50, "start_physics_step": 5314 }, { "action_index": 61, "end_physics_step": 5414, "physics_steps": 50, "start_physics_step": 5364 }, { "action_index": 62, "end_physics_step": 5464, "physics_steps": 50, "start_physics_step": 5414 }, { "action_index": 63, "end_physics_step": 5514, "physics_steps": 50, "start_physics_step": 5464 }, { "action_index": 64, "end_physics_step": 5564, "physics_steps": 50, "start_physics_step": 5514 }, { "action_index": 65, "end_physics_step": 5614, "physics_steps": 50, "start_physics_step": 5564 }, { "action_index": 66, "end_physics_step": 5664, "physics_steps": 50, "start_physics_step": 5614 }, { "action_index": 67, "end_physics_step": 5714, "physics_steps": 50, "start_physics_step": 5664 }, { "action_index": 68, "end_physics_step": 5764, "physics_steps": 50, "start_physics_step": 5714 }, { "action_index": 69, "end_physics_step": 5782, "physics_steps": 18, "start_physics_step": 5764 }, { "action_index": 70, "end_physics_step": 5807, "physics_steps": 25, "start_physics_step": 5782 }, { "action_index": 71, "end_physics_step": 5864, "physics_steps": 57, "start_physics_step": 5807 }, { "action_index": 72, "end_physics_step": 5941, "physics_steps": 77, "start_physics_step": 5864 }, { "action_index": 73, "end_physics_step": 6033, "physics_steps": 92, "start_physics_step": 5941 }, { "action_index": 74, "end_physics_step": 6137, "physics_steps": 104, "start_physics_step": 6033 }, { "action_index": 75, "end_physics_step": 6250, "physics_steps": 113, "start_physics_step": 6137 }, { "action_index": 76, "end_physics_step": 6369, "physics_steps": 119, "start_physics_step": 6250 }, { "action_index": 77, "end_physics_step": 6490, "physics_steps": 121, "start_physics_step": 6369 }, { "action_index": 78, "end_physics_step": 6608, "physics_steps": 118, "start_physics_step": 6490 }, { "action_index": 79, "end_physics_step": 6719, "physics_steps": 111, "start_physics_step": 6608 }, { "action_index": 80, "end_physics_step": 6818, "physics_steps": 99, "start_physics_step": 6719 }, { "action_index": 81, "end_physics_step": 6903, "physics_steps": 85, "start_physics_step": 6818 }, { "action_index": 82, "end_physics_step": 6971, "physics_steps": 68, "start_physics_step": 6903 }, { "action_index": 83, "end_physics_step": 7015, "physics_steps": 44, "start_physics_step": 6971 }, { "action_index": 84, "end_physics_step": 7021, "physics_steps": 6, "start_physics_step": 7015 }, { "action_index": 85, "end_physics_step": 7071, "physics_steps": 50, "start_physics_step": 7021 }, { "action_index": 86, "end_physics_step": 7121, "physics_steps": 50, "start_physics_step": 7071 }, { "action_index": 87, "end_physics_step": 7171, "physics_steps": 50, "start_physics_step": 7121 }, { "action_index": 88, "end_physics_step": 7221, "physics_steps": 50, "start_physics_step": 7171 }, { "action_index": 89, "end_physics_step": 7290, "physics_steps": 69, "start_physics_step": 7221 }, { "action_index": 90, "end_physics_step": 7375, "physics_steps": 85, "start_physics_step": 7290 }, { "action_index": 91, "end_physics_step": 7473, "physics_steps": 98, "start_physics_step": 7375 }, { "action_index": 92, "end_physics_step": 7585, "physics_steps": 112, "start_physics_step": 7473 }, { "action_index": 93, "end_physics_step": 7708, "physics_steps": 123, "start_physics_step": 7585 }, { "action_index": 94, "end_physics_step": 7841, "physics_steps": 133, "start_physics_step": 7708 }, { "action_index": 95, "end_physics_step": 7982, "physics_steps": 141, "start_physics_step": 7841 }, { "action_index": 96, "end_physics_step": 8130, "physics_steps": 148, "start_physics_step": 7982 }, { "action_index": 97, "end_physics_step": 8284, "physics_steps": 154, "start_physics_step": 8130 }, { "action_index": 98, "end_physics_step": 8443, "physics_steps": 159, "start_physics_step": 8284 }, { "action_index": 99, "end_physics_step": 8605, "physics_steps": 162, "start_physics_step": 8443 }, { "action_index": 100, "end_physics_step": 8770, "physics_steps": 165, "start_physics_step": 8605 }, { "action_index": 101, "end_physics_step": 8937, "physics_steps": 167, "start_physics_step": 8770 }, { "action_index": 102, "end_physics_step": 9105, "physics_steps": 168, "start_physics_step": 8937 }, { "action_index": 103, "end_physics_step": 9274, "physics_steps": 169, "start_physics_step": 9105 }, { "action_index": 104, "end_physics_step": 9442, "physics_steps": 168, "start_physics_step": 9274 }, { "action_index": 105, "end_physics_step": 9609, "physics_steps": 167, "start_physics_step": 9442 }, { "action_index": 106, "end_physics_step": 9773, "physics_steps": 164, "start_physics_step": 9609 }, { "action_index": 107, "end_physics_step": 9934, "physics_steps": 161, "start_physics_step": 9773 }, { "action_index": 108, "end_physics_step": 10090, "physics_steps": 156, "start_physics_step": 9934 }, { "action_index": 109, "end_physics_step": 10241, "physics_steps": 151, "start_physics_step": 10090 }, { "action_index": 110, "end_physics_step": 10388, "physics_steps": 147, "start_physics_step": 10241 }, { "action_index": 111, "end_physics_step": 10530, "physics_steps": 142, "start_physics_step": 10388 }, { "action_index": 112, "end_physics_step": 10667, "physics_steps": 137, "start_physics_step": 10530 }, { "action_index": 113, "end_physics_step": 10799, "physics_steps": 132, "start_physics_step": 10667 }, { "action_index": 114, "end_physics_step": 10926, "physics_steps": 127, "start_physics_step": 10799 }, { "action_index": 115, "end_physics_step": 11050, "physics_steps": 124, "start_physics_step": 10926 }, { "action_index": 116, "end_physics_step": 11170, "physics_steps": 120, "start_physics_step": 11050 }, { "action_index": 117, "end_physics_step": 11285, "physics_steps": 115, "start_physics_step": 11170 }, { "action_index": 118, "end_physics_step": 11394, "physics_steps": 109, "start_physics_step": 11285 }, { "action_index": 119, "end_physics_step": 11491, "physics_steps": 97, "start_physics_step": 11394 }, { "action_index": 120, "end_physics_step": 11574, "physics_steps": 83, "start_physics_step": 11491 }, { "action_index": 121, "end_physics_step": 11641, "physics_steps": 67, "start_physics_step": 11574 }, { "action_index": 122, "end_physics_step": 11691, "physics_steps": 50, "start_physics_step": 11641 }, { "action_index": 123, "end_physics_step": 11741, "physics_steps": 50, "start_physics_step": 11691 }, { "action_index": 124, "end_physics_step": 11791, "physics_steps": 50, "start_physics_step": 11741 }, { "action_index": 125, "end_physics_step": 11841, "physics_steps": 50, "start_physics_step": 11791 }, { "action_index": 126, "end_physics_step": 11891, "physics_steps": 50, "start_physics_step": 11841 }, { "action_index": 127, "end_physics_step": 11941, "physics_steps": 50, "start_physics_step": 11891 }, { "action_index": 128, "end_physics_step": 11991, "physics_steps": 50, "start_physics_step": 11941 }, { "action_index": 129, "end_physics_step": 12041, "physics_steps": 50, "start_physics_step": 11991 }, { "action_index": 130, "end_physics_step": 12091, "physics_steps": 50, "start_physics_step": 12041 }, { "action_index": 131, "end_physics_step": 12141, "physics_steps": 50, "start_physics_step": 12091 }, { "action_index": 132, "end_physics_step": 12191, "physics_steps": 50, "start_physics_step": 12141 }, { "action_index": 133, "end_physics_step": 12241, "physics_steps": 50, "start_physics_step": 12191 }, { "action_index": 134, "end_physics_step": 12291, "physics_steps": 50, "start_physics_step": 12241 }, { "action_index": 135, "end_physics_step": 12344, "physics_steps": 53, "start_physics_step": 12291 }, { "action_index": 136, "end_physics_step": 12418, "physics_steps": 74, "start_physics_step": 12344 }, { "action_index": 137, "end_physics_step": 12508, "physics_steps": 90, "start_physics_step": 12418 }, { "action_index": 138, "end_physics_step": 12610, "physics_steps": 102, "start_physics_step": 12508 }, { "action_index": 139, "end_physics_step": 12725, "physics_steps": 115, "start_physics_step": 12610 }, { "action_index": 140, "end_physics_step": 12849, "physics_steps": 124, "start_physics_step": 12725 }, { "action_index": 141, "end_physics_step": 12982, "physics_steps": 133, "start_physics_step": 12849 }, { "action_index": 142, "end_physics_step": 13122, "physics_steps": 140, "start_physics_step": 12982 }, { "action_index": 143, "end_physics_step": 13266, "physics_steps": 144, "start_physics_step": 13122 }, { "action_index": 144, "end_physics_step": 13414, "physics_steps": 148, "start_physics_step": 13266 }, { "action_index": 145, "end_physics_step": 13562, "physics_steps": 148, "start_physics_step": 13414 }, { "action_index": 146, "end_physics_step": 13707, "physics_steps": 145, "start_physics_step": 13562 }, { "action_index": 147, "end_physics_step": 13847, "physics_steps": 140, "start_physics_step": 13707 }, { "action_index": 148, "end_physics_step": 13909, "physics_steps": 62, "start_physics_step": 13847 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ 0.03032587468624115, -0.019009660929441452, 0.949900209903717 ], "scanner_functional_point": [ -0.018642451366268416, -0.03516393225824023, 0.9357776121584499, 0.6135133108892569, -0.08097178376670189, 0.7844800021492834, -0.040448903856598425 ] }, "training_action_input_frames": 164, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.13503648141129557, "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": 13909, "training_actions_executed": 149, "validate_synchronized_training_replay": true, "wrist_camera_preset": "centered_fovy90" }